Add files using upload-large-folder tool
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- Image/env_game_gtav/low_average/2025-1-16_14-10-48_1025202362/pose.jsonl +456 -0
- Image/env_game_gtav/low_average/2025-1-16_14-12-54_412776091/pose.jsonl +404 -0
- Image/env_game_gtav/low_average/2025-1-16_14-14-21_356426808/pose.jsonl +66 -0
- Image/env_game_gtav/low_average/2025-1-16_14-15-58_959997301/pose.jsonl +248 -0
- Image/env_game_gtav/low_average/2025-1-16_14-25-20_1967681095/pose.jsonl +313 -0
- Image/env_game_gtav/low_average/2025-1-16_14-32-30_1315209188/pose.jsonl +131 -0
- Image/env_game_gtav/low_average/2025-1-16_14-34-48_1219407971/pose.jsonl +170 -0
- Image/env_game_gtav/low_average/2025-1-16_14-35-33_337453826/pose.jsonl +560 -0
- Image/env_game_gtav/low_average/2025-1-16_14-35-9_389040743/pose.jsonl +261 -0
- Image/env_game_gtav/low_average/2025-1-16_14-37-7_1707056552/pose.jsonl +378 -0
- Image/env_game_gtav/low_average/2025-1-16_14-41-50_1452888574/pose.jsonl +495 -0
- Image/env_game_gtav/low_average/2025-1-16_14-42-35_962033002/pose.jsonl +417 -0
- Image/env_game_gtav/low_average/2025-1-16_14-44-23_151519934/pose.jsonl +352 -0
- Image/env_game_gtav/low_average/2025-1-16_14-49-30_51245830/pose.jsonl +469 -0
- Image/env_game_gtav/low_average/2025-1-16_14-54-10_833215350/pose.jsonl +144 -0
- Image/env_game_gtav/low_average/2025-1-16_14-57-59_951426815/pose.jsonl +287 -0
- Image/env_game_gtav/low_average/2025-1-16_15-0-20_2060975266/pose.jsonl +456 -0
- Image/env_gs_nwpu02/astar_data/long/2025-1-16_13-54-27_1681692777/pose.jsonl +535 -0
- Image/env_gs_nwpu02/astar_data/long/2025-1-16_13-54-52_1714636915/pose.jsonl +626 -0
- Image/env_gs_nwpu02/astar_data/long/2025-1-16_13-55-17_1957747793/pose.jsonl +600 -0
- Image/env_gs_nwpu02/astar_data/long/2025-1-16_13-56-19_719885386/pose.jsonl +236 -0
- Image/env_gs_nwpu02/astar_data/long/2025-1-16_13-57-27_1189641421/pose.jsonl +717 -0
- Image/env_gs_nwpu02/astar_data/long/2025-1-16_13-58-0_1025202362/pose.jsonl +548 -0
- Image/env_gs_nwpu02/astar_data/long/2025-1-16_13-59-7_1102520059/pose.jsonl +626 -0
- Image/env_gs_nwpu02/astar_data/long/2025-1-16_14-1-21_1365180540/pose.jsonl +418 -0
- Image/env_gs_nwpu02/astar_data/long/2025-1-16_14-10-2_1649760492/pose.jsonl +561 -0
- Image/env_gs_nwpu02/astar_data/long/2025-1-16_14-12-36_2044897763/pose.jsonl +548 -0
- Image/env_gs_nwpu02/astar_data/long/2025-1-16_14-16-59_294702567/pose.jsonl +782 -0
- Image/env_gs_nwpu02/astar_data/long/2025-1-16_14-18-32_861021530/pose.jsonl +704 -0
- Image/env_gs_nwpu02/astar_data/long/2025-1-16_14-2-11_304089172/pose.jsonl +548 -0
- Image/env_gs_nwpu02/astar_data/long/2025-1-16_14-2-45_1303455736/pose.jsonl +470 -0
- Image/env_gs_nwpu02/astar_data/long/2025-1-16_14-26-5_424238335/pose.jsonl +600 -0
- Image/env_gs_nwpu02/astar_data/long/2025-1-16_14-27-42_1189641421/pose.jsonl +548 -0
- Image/env_gs_nwpu02/astar_data/long/2025-1-16_14-28-58_783368690/pose.jsonl +743 -0
- Image/env_gs_nwpu02/astar_data/long/2025-1-16_14-3-5_35005211/pose.jsonl +483 -0
- Image/env_gs_nwpu02/astar_data/long/2025-1-16_14-33-30_294702567/pose.jsonl +626 -0
- Image/env_gs_nwpu02/astar_data/long/2025-1-16_14-34-40_861021530/pose.jsonl +769 -0
- Image/env_gs_nwpu02/astar_data/long/2025-1-16_14-37-26_1101513929/pose.jsonl +639 -0
- Image/env_gs_nwpu02/astar_data/long/2025-1-16_14-37-53_1801979802/pose.jsonl +652 -0
- Image/env_gs_nwpu02/astar_data/long/2025-1-16_14-4-35_294702567/pose.jsonl +639 -0
- Image/env_gs_nwpu02/astar_data/long/2025-1-16_14-44-39_756898537/pose.jsonl +678 -0
- Image/env_gs_nwpu02/astar_data/long/2025-1-16_14-48-3_184803526/pose.jsonl +717 -0
- Image/env_gs_nwpu02/astar_data/long/2025-1-16_14-48-57_1424268980/pose.jsonl +340 -0
- Image/env_gs_nwpu02/astar_data/long/2025-1-16_14-55-17_1159126505/pose.jsonl +444 -0
- Image/env_gs_nwpu02/astar_data/long/2025-1-16_14-55-36_805750846/pose.jsonl +574 -0
- Image/env_gs_nwpu02/astar_data/long/2025-1-16_14-56-46_1433925857/pose.jsonl +600 -0
- Image/env_gs_nwpu02/astar_data/long/2025-1-16_14-57-10_1141616124/pose.jsonl +782 -0
- Image/env_gs_nwpu02/astar_data/long/2025-1-16_14-59-19_1998898814/pose.jsonl +782 -0
- Image/env_gs_nwpu02/astar_data/long/2025-1-16_14-59-57_1548233367/pose.jsonl +574 -0
- Image/env_gs_nwpu02/astar_data/long/2025-1-16_15-1-54_1374344043/pose.jsonl +717 -0
Image/env_game_gtav/low_average/2025-1-16_14-10-48_1025202362/pose.jsonl
ADDED
|
@@ -0,0 +1,456 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-106.37684338955316,
|
| 6 |
+
936.169066071134,
|
| 7 |
+
66.87145002535723
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 3.141592653589793
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-109.37684338955316,
|
| 19 |
+
936.169066071134,
|
| 20 |
+
66.87145002535723
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 3.141592653589793
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-112.37684338955316,
|
| 32 |
+
936.169066071134,
|
| 33 |
+
66.87145002535723
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 3.141592653589793
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-115.37684338955316,
|
| 45 |
+
936.169066071134,
|
| 46 |
+
66.87145002535723
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 3.141592653589793
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-118.37684338955316,
|
| 58 |
+
936.169066071134,
|
| 59 |
+
66.87145002535723
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 3.141592653589793
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-121.37684338955316,
|
| 71 |
+
936.169066071134,
|
| 72 |
+
66.87145002535723
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 3.141592653589793
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-124.37684338955316,
|
| 84 |
+
936.169066071134,
|
| 85 |
+
66.87145002535723
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 3.141592653589793
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-127.37684338955316,
|
| 97 |
+
936.169066071134,
|
| 98 |
+
66.87145002535723
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 3.141592653589793
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-130.37684338955316,
|
| 110 |
+
936.169066071134,
|
| 111 |
+
66.87145002535723
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 3.141592653589793
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-133.37684338955316,
|
| 123 |
+
936.169066071134,
|
| 124 |
+
66.87145002535723
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 3.141592653589793
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-136.37684338955316,
|
| 136 |
+
936.169066071134,
|
| 137 |
+
66.87145002535723
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 3.141592653589793
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-139.37684338955316,
|
| 149 |
+
936.169066071134,
|
| 150 |
+
66.87145002535723
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 3.141592653589793
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-142.37684338955316,
|
| 162 |
+
936.169066071134,
|
| 163 |
+
66.87145002535723
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 3.141592653589793
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-145.37684338955316,
|
| 175 |
+
936.169066071134,
|
| 176 |
+
66.87145002535723
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 3.141592653589793
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-148.37684338955316,
|
| 188 |
+
936.169066071134,
|
| 189 |
+
66.87145002535723
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 3.141592653589793
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-151.37684338955316,
|
| 201 |
+
936.169066071134,
|
| 202 |
+
66.87145002535723
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 3.141592653589793
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-154.37684338955316,
|
| 214 |
+
936.169066071134,
|
| 215 |
+
66.87145002535723
|
| 216 |
+
],
|
| 217 |
+
"type": "turn left",
|
| 218 |
+
"value": 30,
|
| 219 |
+
"yaw": 3.141592653589793
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-154.37684338955316,
|
| 227 |
+
936.169066071134,
|
| 228 |
+
66.87145002535723
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 3.665191429188092
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
-156.97491960090647,
|
| 240 |
+
934.669066071134,
|
| 241 |
+
66.87145002535723
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": -2.6179938779914944
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
-159.5729958122598,
|
| 253 |
+
933.169066071134,
|
| 254 |
+
66.87145002535723
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": -2.6179938779914944
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
-162.1710720236131,
|
| 266 |
+
931.669066071134,
|
| 267 |
+
66.87145002535723
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": -2.6179938779914944
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
-164.76914823496642,
|
| 279 |
+
930.169066071134,
|
| 280 |
+
66.87145002535723
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": -2.6179938779914944
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
-167.36722444631974,
|
| 292 |
+
928.669066071134,
|
| 293 |
+
66.87145002535723
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": -2.6179938779914944
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
-169.96530065767305,
|
| 305 |
+
927.169066071134,
|
| 306 |
+
66.87145002535723
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": -2.6179938779914944
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
-172.56337686902637,
|
| 318 |
+
925.669066071134,
|
| 319 |
+
66.87145002535723
|
| 320 |
+
],
|
| 321 |
+
"type": "go straight",
|
| 322 |
+
"value": 3,
|
| 323 |
+
"yaw": -2.6179938779914944
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"action": {
|
| 328 |
+
"imageid": 25,
|
| 329 |
+
"pos": [
|
| 330 |
+
-175.1614530803797,
|
| 331 |
+
924.169066071134,
|
| 332 |
+
66.87145002535723
|
| 333 |
+
],
|
| 334 |
+
"type": "go straight",
|
| 335 |
+
"value": 3,
|
| 336 |
+
"yaw": -2.6179938779914944
|
| 337 |
+
}
|
| 338 |
+
}
|
| 339 |
+
{
|
| 340 |
+
"action": {
|
| 341 |
+
"imageid": 26,
|
| 342 |
+
"pos": [
|
| 343 |
+
-177.759529291733,
|
| 344 |
+
922.669066071134,
|
| 345 |
+
66.87145002535723
|
| 346 |
+
],
|
| 347 |
+
"type": "go straight",
|
| 348 |
+
"value": 3,
|
| 349 |
+
"yaw": -2.6179938779914944
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
{
|
| 353 |
+
"action": {
|
| 354 |
+
"imageid": 27,
|
| 355 |
+
"pos": [
|
| 356 |
+
-180.35760550308632,
|
| 357 |
+
921.169066071134,
|
| 358 |
+
66.87145002535723
|
| 359 |
+
],
|
| 360 |
+
"type": "go straight",
|
| 361 |
+
"value": 3,
|
| 362 |
+
"yaw": -2.6179938779914944
|
| 363 |
+
}
|
| 364 |
+
}
|
| 365 |
+
{
|
| 366 |
+
"action": {
|
| 367 |
+
"imageid": 28,
|
| 368 |
+
"pos": [
|
| 369 |
+
-182.95568171443963,
|
| 370 |
+
919.669066071134,
|
| 371 |
+
66.87145002535723
|
| 372 |
+
],
|
| 373 |
+
"type": "go straight",
|
| 374 |
+
"value": 3,
|
| 375 |
+
"yaw": -2.6179938779914944
|
| 376 |
+
}
|
| 377 |
+
}
|
| 378 |
+
{
|
| 379 |
+
"action": {
|
| 380 |
+
"imageid": 29,
|
| 381 |
+
"pos": [
|
| 382 |
+
-185.55375792579295,
|
| 383 |
+
918.169066071134,
|
| 384 |
+
66.87145002535723
|
| 385 |
+
],
|
| 386 |
+
"type": "go straight",
|
| 387 |
+
"value": 3,
|
| 388 |
+
"yaw": -2.6179938779914944
|
| 389 |
+
}
|
| 390 |
+
}
|
| 391 |
+
{
|
| 392 |
+
"action": {
|
| 393 |
+
"imageid": 30,
|
| 394 |
+
"pos": [
|
| 395 |
+
-188.15183413714627,
|
| 396 |
+
916.669066071134,
|
| 397 |
+
66.87145002535723
|
| 398 |
+
],
|
| 399 |
+
"type": "go straight",
|
| 400 |
+
"value": 3,
|
| 401 |
+
"yaw": -2.6179938779914944
|
| 402 |
+
}
|
| 403 |
+
}
|
| 404 |
+
{
|
| 405 |
+
"action": {
|
| 406 |
+
"imageid": 31,
|
| 407 |
+
"pos": [
|
| 408 |
+
-190.74991034849958,
|
| 409 |
+
915.169066071134,
|
| 410 |
+
66.87145002535723
|
| 411 |
+
],
|
| 412 |
+
"type": "go straight",
|
| 413 |
+
"value": 3,
|
| 414 |
+
"yaw": -2.6179938779914944
|
| 415 |
+
}
|
| 416 |
+
}
|
| 417 |
+
{
|
| 418 |
+
"action": {
|
| 419 |
+
"imageid": 32,
|
| 420 |
+
"pos": [
|
| 421 |
+
-193.3479865598529,
|
| 422 |
+
913.669066071134,
|
| 423 |
+
66.87145002535723
|
| 424 |
+
],
|
| 425 |
+
"type": "go straight",
|
| 426 |
+
"value": 3,
|
| 427 |
+
"yaw": -2.6179938779914944
|
| 428 |
+
}
|
| 429 |
+
}
|
| 430 |
+
{
|
| 431 |
+
"action": {
|
| 432 |
+
"imageid": 33,
|
| 433 |
+
"pos": [
|
| 434 |
+
-195.94606277120621,
|
| 435 |
+
912.169066071134,
|
| 436 |
+
66.87145002535723
|
| 437 |
+
],
|
| 438 |
+
"type": "stop",
|
| 439 |
+
"value": 0,
|
| 440 |
+
"yaw": -2.6179938779914944
|
| 441 |
+
}
|
| 442 |
+
}
|
| 443 |
+
{
|
| 444 |
+
"aim_landmark": {
|
| 445 |
+
"color": "test",
|
| 446 |
+
"feature": "test",
|
| 447 |
+
"position": [
|
| 448 |
+
-220.0,
|
| 449 |
+
908.0,
|
| 450 |
+
89.20973205566406
|
| 451 |
+
],
|
| 452 |
+
"shape": "test",
|
| 453 |
+
"size": "test",
|
| 454 |
+
"type": "building"
|
| 455 |
+
}
|
| 456 |
+
}
|
Image/env_game_gtav/low_average/2025-1-16_14-12-54_412776091/pose.jsonl
ADDED
|
@@ -0,0 +1,404 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-263.8465553713042,
|
| 6 |
+
743.4974314613534,
|
| 7 |
+
86.7938526079567
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 1.5707963267948966
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-263.8465553713042,
|
| 19 |
+
746.4974314613534,
|
| 20 |
+
86.7938526079567
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 1.5707963267948966
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-263.8465553713042,
|
| 32 |
+
749.4974314613534,
|
| 33 |
+
86.7938526079567
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 1.5707963267948966
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-263.8465553713042,
|
| 45 |
+
752.4974314613534,
|
| 46 |
+
86.7938526079567
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 1.5707963267948966
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-263.8465553713042,
|
| 58 |
+
755.4974314613534,
|
| 59 |
+
86.7938526079567
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 1.5707963267948966
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-263.8465553713042,
|
| 71 |
+
758.4974314613534,
|
| 72 |
+
86.7938526079567
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 1.5707963267948966
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-263.8465553713042,
|
| 84 |
+
761.4974314613534,
|
| 85 |
+
86.7938526079567
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 1.5707963267948966
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-263.8465553713042,
|
| 97 |
+
764.4974314613534,
|
| 98 |
+
86.7938526079567
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 1.5707963267948966
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-263.8465553713042,
|
| 110 |
+
767.4974314613534,
|
| 111 |
+
86.7938526079567
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 1.5707963267948966
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-263.8465553713042,
|
| 123 |
+
770.4974314613534,
|
| 124 |
+
86.7938526079567
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 1.5707963267948966
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-263.8465553713042,
|
| 136 |
+
773.4974314613534,
|
| 137 |
+
86.7938526079567
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 1.5707963267948966
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-263.8465553713042,
|
| 149 |
+
776.4974314613534,
|
| 150 |
+
86.7938526079567
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 1.5707963267948966
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-263.8465553713042,
|
| 162 |
+
779.4974314613534,
|
| 163 |
+
86.7938526079567
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 1.5707963267948966
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-263.8465553713042,
|
| 175 |
+
782.4974314613534,
|
| 176 |
+
86.7938526079567
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 1.5707963267948966
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-263.8465553713042,
|
| 188 |
+
785.4974314613534,
|
| 189 |
+
86.7938526079567
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 1.5707963267948966
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-263.8465553713042,
|
| 201 |
+
788.4974314613534,
|
| 202 |
+
86.7938526079567
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 1.5707963267948966
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-263.8465553713042,
|
| 214 |
+
791.4974314613534,
|
| 215 |
+
86.7938526079567
|
| 216 |
+
],
|
| 217 |
+
"type": "turn right",
|
| 218 |
+
"value": 30,
|
| 219 |
+
"yaw": 1.5707963267948966
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-263.8465553713042,
|
| 227 |
+
791.4974314613534,
|
| 228 |
+
86.7938526079567
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 1.0471975511965979
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
-262.3465553713042,
|
| 240 |
+
794.0955076727066,
|
| 241 |
+
86.7938526079567
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 1.0471975511965883
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
-260.8465553713042,
|
| 253 |
+
796.69358388406,
|
| 254 |
+
86.7938526079567
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": 1.0471975511966072
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
-259.3465553713042,
|
| 266 |
+
799.2916600954134,
|
| 267 |
+
86.7938526079567
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": 1.0471975511966072
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
-257.8465553713042,
|
| 279 |
+
801.8897363067667,
|
| 280 |
+
86.7938526079567
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": 1.0471975511966072
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
-256.3465553713042,
|
| 292 |
+
804.4878125181201,
|
| 293 |
+
86.7938526079567
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": 1.0471975511966072
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
-254.8465553713042,
|
| 305 |
+
807.0858887294735,
|
| 306 |
+
86.7938526079567
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": 1.0471975511966072
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
-253.3465553713042,
|
| 318 |
+
809.6839649408269,
|
| 319 |
+
86.7938526079567
|
| 320 |
+
],
|
| 321 |
+
"type": "go straight",
|
| 322 |
+
"value": 3,
|
| 323 |
+
"yaw": 1.0471975511966072
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"action": {
|
| 328 |
+
"imageid": 25,
|
| 329 |
+
"pos": [
|
| 330 |
+
-251.8465553713042,
|
| 331 |
+
812.2820411521802,
|
| 332 |
+
86.7938526079567
|
| 333 |
+
],
|
| 334 |
+
"type": "go straight",
|
| 335 |
+
"value": 3,
|
| 336 |
+
"yaw": 1.0471975511966072
|
| 337 |
+
}
|
| 338 |
+
}
|
| 339 |
+
{
|
| 340 |
+
"action": {
|
| 341 |
+
"imageid": 26,
|
| 342 |
+
"pos": [
|
| 343 |
+
-250.3465553713042,
|
| 344 |
+
814.8801173635336,
|
| 345 |
+
86.7938526079567
|
| 346 |
+
],
|
| 347 |
+
"type": "go straight",
|
| 348 |
+
"value": 3,
|
| 349 |
+
"yaw": 1.0471975511966072
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
{
|
| 353 |
+
"action": {
|
| 354 |
+
"imageid": 27,
|
| 355 |
+
"pos": [
|
| 356 |
+
-248.8465553713042,
|
| 357 |
+
817.478193574887,
|
| 358 |
+
86.7938526079567
|
| 359 |
+
],
|
| 360 |
+
"type": "go straight",
|
| 361 |
+
"value": 3,
|
| 362 |
+
"yaw": 1.0471975511966072
|
| 363 |
+
}
|
| 364 |
+
}
|
| 365 |
+
{
|
| 366 |
+
"action": {
|
| 367 |
+
"imageid": 28,
|
| 368 |
+
"pos": [
|
| 369 |
+
-247.3465553713042,
|
| 370 |
+
820.0762697862403,
|
| 371 |
+
86.7938526079567
|
| 372 |
+
],
|
| 373 |
+
"type": "go straight",
|
| 374 |
+
"value": 3,
|
| 375 |
+
"yaw": 1.0471975511966072
|
| 376 |
+
}
|
| 377 |
+
}
|
| 378 |
+
{
|
| 379 |
+
"action": {
|
| 380 |
+
"imageid": 29,
|
| 381 |
+
"pos": [
|
| 382 |
+
-245.8465553713042,
|
| 383 |
+
822.6743459975937,
|
| 384 |
+
86.7938526079567
|
| 385 |
+
],
|
| 386 |
+
"type": "stop",
|
| 387 |
+
"value": 0,
|
| 388 |
+
"yaw": 1.0471975511966072
|
| 389 |
+
}
|
| 390 |
+
}
|
| 391 |
+
{
|
| 392 |
+
"aim_landmark": {
|
| 393 |
+
"color": "test",
|
| 394 |
+
"feature": "test",
|
| 395 |
+
"position": [
|
| 396 |
+
-240.0,
|
| 397 |
+
852.0,
|
| 398 |
+
90.6933822631836
|
| 399 |
+
],
|
| 400 |
+
"shape": "test",
|
| 401 |
+
"size": "test",
|
| 402 |
+
"type": "building"
|
| 403 |
+
}
|
| 404 |
+
}
|
Image/env_game_gtav/low_average/2025-1-16_14-14-21_356426808/pose.jsonl
ADDED
|
@@ -0,0 +1,66 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-465.6524441843655,
|
| 6 |
+
1489.6676237128331,
|
| 7 |
+
80.63210848652088
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 1.0471975511966072
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-464.1524441843655,
|
| 19 |
+
1492.2656999241865,
|
| 20 |
+
80.63210848652088
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 1.0471975511966072
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-462.6524441843655,
|
| 32 |
+
1494.8637761355399,
|
| 33 |
+
80.63210848652088
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 1.0471975511966072
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-461.1524441843655,
|
| 45 |
+
1497.4618523468932,
|
| 46 |
+
80.63210848652088
|
| 47 |
+
],
|
| 48 |
+
"type": "stop",
|
| 49 |
+
"value": 0,
|
| 50 |
+
"yaw": 1.0471975511966072
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"aim_landmark": {
|
| 55 |
+
"color": "test",
|
| 56 |
+
"feature": "test",
|
| 57 |
+
"position": [
|
| 58 |
+
-432.0,
|
| 59 |
+
1596.0,
|
| 60 |
+
57.799564361572266
|
| 61 |
+
],
|
| 62 |
+
"shape": "test",
|
| 63 |
+
"size": "test",
|
| 64 |
+
"type": "building"
|
| 65 |
+
}
|
| 66 |
+
}
|
Image/env_game_gtav/low_average/2025-1-16_14-15-58_959997301/pose.jsonl
ADDED
|
@@ -0,0 +1,248 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-855.0180838428231,
|
| 6 |
+
-933.4087330863399,
|
| 7 |
+
95.02603855176511
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 3.141592653589793
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-858.0180838428231,
|
| 19 |
+
-933.4087330863399,
|
| 20 |
+
95.02603855176511
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 3.141592653589793
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-861.0180838428231,
|
| 32 |
+
-933.4087330863399,
|
| 33 |
+
95.02603855176511
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 3.141592653589793
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-864.0180838428231,
|
| 45 |
+
-933.4087330863399,
|
| 46 |
+
95.02603855176511
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 3.141592653589793
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-867.0180838428231,
|
| 58 |
+
-933.4087330863399,
|
| 59 |
+
95.02603855176511
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 3.141592653589793
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-870.0180838428231,
|
| 71 |
+
-933.4087330863399,
|
| 72 |
+
95.02603855176511
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 3.141592653589793
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-873.0180838428231,
|
| 84 |
+
-933.4087330863399,
|
| 85 |
+
95.02603855176511
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 3.141592653589793
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-876.0180838428231,
|
| 97 |
+
-933.4087330863399,
|
| 98 |
+
95.02603855176511
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 3.141592653589793
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-879.0180838428231,
|
| 110 |
+
-933.4087330863399,
|
| 111 |
+
95.02603855176511
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 3.141592653589793
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-882.0180838428231,
|
| 123 |
+
-933.4087330863399,
|
| 124 |
+
95.02603855176511
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 3.141592653589793
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-885.0180838428231,
|
| 136 |
+
-933.4087330863399,
|
| 137 |
+
95.02603855176511
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 3.141592653589793
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-888.0180838428231,
|
| 149 |
+
-933.4087330863399,
|
| 150 |
+
95.02603855176511
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 3.141592653589793
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-891.0180838428231,
|
| 162 |
+
-933.4087330863399,
|
| 163 |
+
95.02603855176511
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 3.141592653589793
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-894.0180838428231,
|
| 175 |
+
-933.4087330863399,
|
| 176 |
+
95.02603855176511
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 3.141592653589793
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-897.0180838428231,
|
| 188 |
+
-933.4087330863399,
|
| 189 |
+
95.02603855176511
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 3.141592653589793
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-900.0180838428231,
|
| 201 |
+
-933.4087330863399,
|
| 202 |
+
95.02603855176511
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 3.141592653589793
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-903.0180838428231,
|
| 214 |
+
-933.4087330863399,
|
| 215 |
+
95.02603855176511
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 3.141592653589793
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-906.0180838428231,
|
| 227 |
+
-933.4087330863399,
|
| 228 |
+
95.02603855176511
|
| 229 |
+
],
|
| 230 |
+
"type": "stop",
|
| 231 |
+
"value": 0,
|
| 232 |
+
"yaw": 3.141592653589793
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"aim_landmark": {
|
| 237 |
+
"color": "test",
|
| 238 |
+
"feature": "test",
|
| 239 |
+
"position": [
|
| 240 |
+
-956.0,
|
| 241 |
+
-928.0,
|
| 242 |
+
62.66725540161133
|
| 243 |
+
],
|
| 244 |
+
"shape": "test",
|
| 245 |
+
"size": "test",
|
| 246 |
+
"type": "building"
|
| 247 |
+
}
|
| 248 |
+
}
|
Image/env_game_gtav/low_average/2025-1-16_14-25-20_1967681095/pose.jsonl
ADDED
|
@@ -0,0 +1,313 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-294.41989634251456,
|
| 6 |
+
1458.072841901528,
|
| 7 |
+
89.41810855381154
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 0.0
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-291.41989634251456,
|
| 19 |
+
1458.072841901528,
|
| 20 |
+
89.41810855381154
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 0.0
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-288.41989634251456,
|
| 32 |
+
1458.072841901528,
|
| 33 |
+
89.41810855381154
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 0.0
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-285.41989634251456,
|
| 45 |
+
1458.072841901528,
|
| 46 |
+
89.41810855381154
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 0.0
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-282.41989634251456,
|
| 58 |
+
1458.072841901528,
|
| 59 |
+
89.41810855381154
|
| 60 |
+
],
|
| 61 |
+
"type": "turn left",
|
| 62 |
+
"value": 30,
|
| 63 |
+
"yaw": 0.0
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-282.41989634251456,
|
| 71 |
+
1458.072841901528,
|
| 72 |
+
89.41810855381154
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 0.5235987755982988
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-279.82182013116125,
|
| 84 |
+
1459.572841901528,
|
| 85 |
+
89.41810855381154
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 0.5235987755982988
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-277.22374391980793,
|
| 97 |
+
1461.072841901528,
|
| 98 |
+
89.41810855381154
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 0.5235987755982988
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-274.6256677084546,
|
| 110 |
+
1462.572841901528,
|
| 111 |
+
89.41810855381154
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 0.5235987755982988
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-272.0275914971013,
|
| 123 |
+
1464.072841901528,
|
| 124 |
+
89.41810855381154
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 0.5235987755982988
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-269.429515285748,
|
| 136 |
+
1465.572841901528,
|
| 137 |
+
89.41810855381154
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 0.5235987755982988
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-266.83143907439467,
|
| 149 |
+
1467.072841901528,
|
| 150 |
+
89.41810855381154
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 0.5235987755982988
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-264.23336286304135,
|
| 162 |
+
1468.572841901528,
|
| 163 |
+
89.41810855381154
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 0.5235987755982988
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-261.63528665168803,
|
| 175 |
+
1470.072841901528,
|
| 176 |
+
89.41810855381154
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 0.5235987755982988
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-259.0372104403347,
|
| 188 |
+
1471.572841901528,
|
| 189 |
+
89.41810855381154
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 0.5235987755982988
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-256.4391342289814,
|
| 201 |
+
1473.072841901528,
|
| 202 |
+
89.41810855381154
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 0.5235987755982988
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-253.8410580176281,
|
| 214 |
+
1474.572841901528,
|
| 215 |
+
89.41810855381154
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 0.5235987755982988
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-251.24298180627477,
|
| 227 |
+
1476.072841901528,
|
| 228 |
+
89.41810855381154
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 0.5235987755982988
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
-248.64490559492145,
|
| 240 |
+
1477.572841901528,
|
| 241 |
+
89.41810855381154
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 0.5235987755982988
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
-246.04682938356814,
|
| 253 |
+
1479.072841901528,
|
| 254 |
+
89.41810855381154
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": 0.5235987755982988
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
-243.44875317221482,
|
| 266 |
+
1480.572841901528,
|
| 267 |
+
89.41810855381154
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": 0.5235987755982988
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
-240.8506769608615,
|
| 279 |
+
1482.072841901528,
|
| 280 |
+
89.41810855381154
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": 0.5235987755982988
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
-238.2526007495082,
|
| 292 |
+
1483.572841901528,
|
| 293 |
+
89.41810855381154
|
| 294 |
+
],
|
| 295 |
+
"type": "stop",
|
| 296 |
+
"value": 0,
|
| 297 |
+
"yaw": 0.5235987755982988
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"aim_landmark": {
|
| 302 |
+
"color": "test",
|
| 303 |
+
"feature": "test",
|
| 304 |
+
"position": [
|
| 305 |
+
-220.0,
|
| 306 |
+
1492.0,
|
| 307 |
+
60.75043487548828
|
| 308 |
+
],
|
| 309 |
+
"shape": "test",
|
| 310 |
+
"size": "test",
|
| 311 |
+
"type": "building"
|
| 312 |
+
}
|
| 313 |
+
}
|
Image/env_game_gtav/low_average/2025-1-16_14-32-30_1315209188/pose.jsonl
ADDED
|
@@ -0,0 +1,131 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-976.6003389906307,
|
| 6 |
+
-276.5892018470242,
|
| 7 |
+
90.61533098973833
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -2.0943951023931953
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-978.1003389906307,
|
| 19 |
+
-279.1872780583775,
|
| 20 |
+
90.61533098973833
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -2.0943951023931953
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-979.6003389906307,
|
| 32 |
+
-281.7853542697308,
|
| 33 |
+
90.61533098973833
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -2.0943951023931953
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-981.1003389906307,
|
| 45 |
+
-284.38343048108413,
|
| 46 |
+
90.61533098973833
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -2.0943951023931953
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-982.6003389906307,
|
| 58 |
+
-286.98150669243745,
|
| 59 |
+
90.61533098973833
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -2.0943951023931953
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-984.1003389906307,
|
| 71 |
+
-289.57958290379077,
|
| 72 |
+
90.61533098973833
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -2.0943951023931953
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-985.6003389906307,
|
| 84 |
+
-292.1776591151441,
|
| 85 |
+
90.61533098973833
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -2.0943951023931953
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-987.1003389906307,
|
| 97 |
+
-294.7757353264974,
|
| 98 |
+
90.61533098973833
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -2.0943951023931953
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-988.6003389906307,
|
| 110 |
+
-297.3738115378507,
|
| 111 |
+
90.61533098973833
|
| 112 |
+
],
|
| 113 |
+
"type": "stop",
|
| 114 |
+
"value": 0,
|
| 115 |
+
"yaw": -2.0943951023931953
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"aim_landmark": {
|
| 120 |
+
"color": "test",
|
| 121 |
+
"feature": "test",
|
| 122 |
+
"position": [
|
| 123 |
+
-1020.0,
|
| 124 |
+
-356.0,
|
| 125 |
+
60.881797790527344
|
| 126 |
+
],
|
| 127 |
+
"shape": "test",
|
| 128 |
+
"size": "test",
|
| 129 |
+
"type": "building"
|
| 130 |
+
}
|
| 131 |
+
}
|
Image/env_game_gtav/low_average/2025-1-16_14-34-48_1219407971/pose.jsonl
ADDED
|
@@ -0,0 +1,170 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-980.9336855180502,
|
| 6 |
+
-171.1737407478627,
|
| 7 |
+
96.55487301872105
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 2.6179938779915037
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-983.5317617294036,
|
| 19 |
+
-169.6737407478627,
|
| 20 |
+
96.55487301872105
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 2.6179938779915037
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-986.1298379407569,
|
| 32 |
+
-168.1737407478627,
|
| 33 |
+
96.55487301872105
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 2.6179938779915037
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-988.7279141521103,
|
| 45 |
+
-166.6737407478627,
|
| 46 |
+
96.55487301872105
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 2.6179938779915037
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-991.3259903634637,
|
| 58 |
+
-165.1737407478627,
|
| 59 |
+
96.55487301872105
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 2.6179938779915037
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-993.9240665748171,
|
| 71 |
+
-163.6737407478627,
|
| 72 |
+
96.55487301872105
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 2.6179938779915037
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-996.5221427861704,
|
| 84 |
+
-162.1737407478627,
|
| 85 |
+
96.55487301872105
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 2.6179938779915037
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-999.1202189975238,
|
| 97 |
+
-160.6737407478627,
|
| 98 |
+
96.55487301872105
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 2.6179938779915037
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-1001.7182952088772,
|
| 110 |
+
-159.1737407478627,
|
| 111 |
+
96.55487301872105
|
| 112 |
+
],
|
| 113 |
+
"type": "turn right",
|
| 114 |
+
"value": 30,
|
| 115 |
+
"yaw": 2.6179938779915037
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-1001.7182952088772,
|
| 123 |
+
-159.1737407478627,
|
| 124 |
+
96.55487301872105
|
| 125 |
+
],
|
| 126 |
+
"type": "turn right",
|
| 127 |
+
"value": 30,
|
| 128 |
+
"yaw": 2.094395102393205
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-1001.7182952088772,
|
| 136 |
+
-159.1737407478627,
|
| 137 |
+
96.55487301872105
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 1.570796326794906
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-1001.7182952088772,
|
| 149 |
+
-156.1737407478627,
|
| 150 |
+
96.55487301872105
|
| 151 |
+
],
|
| 152 |
+
"type": "stop",
|
| 153 |
+
"value": 0,
|
| 154 |
+
"yaw": 1.570796326794906
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"aim_landmark": {
|
| 159 |
+
"color": "test",
|
| 160 |
+
"feature": "test",
|
| 161 |
+
"position": [
|
| 162 |
+
-1044.0,
|
| 163 |
+
-120.0,
|
| 164 |
+
59.61659240722656
|
| 165 |
+
],
|
| 166 |
+
"shape": "test",
|
| 167 |
+
"size": "test",
|
| 168 |
+
"type": "building"
|
| 169 |
+
}
|
| 170 |
+
}
|
Image/env_game_gtav/low_average/2025-1-16_14-35-33_337453826/pose.jsonl
ADDED
|
@@ -0,0 +1,560 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-610.8916838862016,
|
| 6 |
+
223.51165818775763,
|
| 7 |
+
60.54301560452633
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 0.0
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-607.8916838862016,
|
| 19 |
+
223.51165818775763,
|
| 20 |
+
60.54301560452633
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 0.0
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-604.8916838862016,
|
| 32 |
+
223.51165818775763,
|
| 33 |
+
60.54301560452633
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 0.0
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-601.8916838862016,
|
| 45 |
+
223.51165818775763,
|
| 46 |
+
60.54301560452633
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 0.0
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-598.8916838862016,
|
| 58 |
+
223.51165818775763,
|
| 59 |
+
60.54301560452633
|
| 60 |
+
],
|
| 61 |
+
"type": "turn right",
|
| 62 |
+
"value": 30,
|
| 63 |
+
"yaw": 0.0
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-598.8916838862016,
|
| 71 |
+
223.51165818775763,
|
| 72 |
+
60.54301560452633
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -0.5235987755982988
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-596.2936076748483,
|
| 84 |
+
222.01165818775763,
|
| 85 |
+
60.54301560452633
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -0.5235987755983084
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-593.695531463495,
|
| 97 |
+
220.51165818775763,
|
| 98 |
+
60.54301560452633
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -0.5235987755982894
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-591.0974552521416,
|
| 110 |
+
219.01165818775763,
|
| 111 |
+
60.54301560452633
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -0.5235987755982894
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-588.4993790407882,
|
| 123 |
+
217.51165818775763,
|
| 124 |
+
60.54301560452633
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -0.5235987755982894
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-585.9013028294348,
|
| 136 |
+
216.01165818775763,
|
| 137 |
+
60.54301560452633
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -0.5235987755982894
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-583.3032266180815,
|
| 149 |
+
214.51165818775763,
|
| 150 |
+
60.54301560452633
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -0.5235987755982894
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-580.7051504067281,
|
| 162 |
+
213.01165818775763,
|
| 163 |
+
60.54301560452633
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -0.5235987755982894
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-578.1070741953747,
|
| 175 |
+
211.51165818775763,
|
| 176 |
+
60.54301560452633
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -0.5235987755982894
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-575.5089979840213,
|
| 188 |
+
210.01165818775763,
|
| 189 |
+
60.54301560452633
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -0.5235987755982894
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-572.910921772668,
|
| 201 |
+
208.51165818775763,
|
| 202 |
+
60.54301560452633
|
| 203 |
+
],
|
| 204 |
+
"type": "turn left",
|
| 205 |
+
"value": 30,
|
| 206 |
+
"yaw": -0.5235987755982894
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-572.910921772668,
|
| 214 |
+
208.51165818775763,
|
| 215 |
+
60.54301560452633
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 9.43689570931383e-15
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-569.910921772668,
|
| 227 |
+
208.51165818775763,
|
| 228 |
+
60.54301560452633
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 0.0
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
-566.910921772668,
|
| 240 |
+
208.51165818775763,
|
| 241 |
+
60.54301560452633
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 0.0
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
-563.910921772668,
|
| 253 |
+
208.51165818775763,
|
| 254 |
+
60.54301560452633
|
| 255 |
+
],
|
| 256 |
+
"type": "turn right",
|
| 257 |
+
"value": 30,
|
| 258 |
+
"yaw": 0.0
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
-563.910921772668,
|
| 266 |
+
208.51165818775763,
|
| 267 |
+
60.54301560452633
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": -0.5235987755982988
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
-561.3128455613146,
|
| 279 |
+
207.01165818775763,
|
| 280 |
+
60.54301560452633
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": -0.5235987755982894
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
-558.7147693499612,
|
| 292 |
+
205.51165818775763,
|
| 293 |
+
60.54301560452633
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": -0.5235987755982894
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
-556.1166931386078,
|
| 305 |
+
204.01165818775763,
|
| 306 |
+
60.54301560452633
|
| 307 |
+
],
|
| 308 |
+
"type": "turn left",
|
| 309 |
+
"value": 30,
|
| 310 |
+
"yaw": -0.5235987755982894
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
-556.1166931386078,
|
| 318 |
+
204.01165818775763,
|
| 319 |
+
60.54301560452633
|
| 320 |
+
],
|
| 321 |
+
"type": "go straight",
|
| 322 |
+
"value": 3,
|
| 323 |
+
"yaw": 9.43689570931383e-15
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"action": {
|
| 328 |
+
"imageid": 25,
|
| 329 |
+
"pos": [
|
| 330 |
+
-553.1166931386078,
|
| 331 |
+
204.01165818775763,
|
| 332 |
+
60.54301560452633
|
| 333 |
+
],
|
| 334 |
+
"type": "turn right",
|
| 335 |
+
"value": 30,
|
| 336 |
+
"yaw": 0.0
|
| 337 |
+
}
|
| 338 |
+
}
|
| 339 |
+
{
|
| 340 |
+
"action": {
|
| 341 |
+
"imageid": 26,
|
| 342 |
+
"pos": [
|
| 343 |
+
-553.1166931386078,
|
| 344 |
+
204.01165818775763,
|
| 345 |
+
60.54301560452633
|
| 346 |
+
],
|
| 347 |
+
"type": "turn right",
|
| 348 |
+
"value": 30,
|
| 349 |
+
"yaw": -0.5235987755982988
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
{
|
| 353 |
+
"action": {
|
| 354 |
+
"imageid": 27,
|
| 355 |
+
"pos": [
|
| 356 |
+
-553.1166931386078,
|
| 357 |
+
204.01165818775763,
|
| 358 |
+
60.54301560452633
|
| 359 |
+
],
|
| 360 |
+
"type": "go straight",
|
| 361 |
+
"value": 3,
|
| 362 |
+
"yaw": -1.0471975511965976
|
| 363 |
+
}
|
| 364 |
+
}
|
| 365 |
+
{
|
| 366 |
+
"action": {
|
| 367 |
+
"imageid": 28,
|
| 368 |
+
"pos": [
|
| 369 |
+
-551.6166931386078,
|
| 370 |
+
201.41358197640432,
|
| 371 |
+
60.54301560452633
|
| 372 |
+
],
|
| 373 |
+
"type": "go straight",
|
| 374 |
+
"value": 3,
|
| 375 |
+
"yaw": -1.0471975511965979
|
| 376 |
+
}
|
| 377 |
+
}
|
| 378 |
+
{
|
| 379 |
+
"action": {
|
| 380 |
+
"imageid": 29,
|
| 381 |
+
"pos": [
|
| 382 |
+
-550.1166931386078,
|
| 383 |
+
198.815505765051,
|
| 384 |
+
60.54301560452633
|
| 385 |
+
],
|
| 386 |
+
"type": "go straight",
|
| 387 |
+
"value": 3,
|
| 388 |
+
"yaw": -1.0471975511965979
|
| 389 |
+
}
|
| 390 |
+
}
|
| 391 |
+
{
|
| 392 |
+
"action": {
|
| 393 |
+
"imageid": 30,
|
| 394 |
+
"pos": [
|
| 395 |
+
-548.6166931386078,
|
| 396 |
+
196.21742955369768,
|
| 397 |
+
60.54301560452633
|
| 398 |
+
],
|
| 399 |
+
"type": "go straight",
|
| 400 |
+
"value": 3,
|
| 401 |
+
"yaw": -1.0471975511965979
|
| 402 |
+
}
|
| 403 |
+
}
|
| 404 |
+
{
|
| 405 |
+
"action": {
|
| 406 |
+
"imageid": 31,
|
| 407 |
+
"pos": [
|
| 408 |
+
-547.1166931386078,
|
| 409 |
+
193.61935334234437,
|
| 410 |
+
60.54301560452633
|
| 411 |
+
],
|
| 412 |
+
"type": "turn right",
|
| 413 |
+
"value": 30,
|
| 414 |
+
"yaw": -1.0471975511965979
|
| 415 |
+
}
|
| 416 |
+
}
|
| 417 |
+
{
|
| 418 |
+
"action": {
|
| 419 |
+
"imageid": 32,
|
| 420 |
+
"pos": [
|
| 421 |
+
-547.1166931386078,
|
| 422 |
+
193.61935334234437,
|
| 423 |
+
60.54301560452633
|
| 424 |
+
],
|
| 425 |
+
"type": "go straight",
|
| 426 |
+
"value": 3,
|
| 427 |
+
"yaw": -1.5707963267948966
|
| 428 |
+
}
|
| 429 |
+
}
|
| 430 |
+
{
|
| 431 |
+
"action": {
|
| 432 |
+
"imageid": 33,
|
| 433 |
+
"pos": [
|
| 434 |
+
-547.1166931386078,
|
| 435 |
+
190.61935334234437,
|
| 436 |
+
60.54301560452633
|
| 437 |
+
],
|
| 438 |
+
"type": "go straight",
|
| 439 |
+
"value": 3,
|
| 440 |
+
"yaw": -1.5707963267948966
|
| 441 |
+
}
|
| 442 |
+
}
|
| 443 |
+
{
|
| 444 |
+
"action": {
|
| 445 |
+
"imageid": 34,
|
| 446 |
+
"pos": [
|
| 447 |
+
-547.1166931386078,
|
| 448 |
+
187.61935334234437,
|
| 449 |
+
60.54301560452633
|
| 450 |
+
],
|
| 451 |
+
"type": "go straight",
|
| 452 |
+
"value": 3,
|
| 453 |
+
"yaw": -1.5707963267948966
|
| 454 |
+
}
|
| 455 |
+
}
|
| 456 |
+
{
|
| 457 |
+
"action": {
|
| 458 |
+
"imageid": 35,
|
| 459 |
+
"pos": [
|
| 460 |
+
-547.1166931386078,
|
| 461 |
+
184.61935334234437,
|
| 462 |
+
60.54301560452633
|
| 463 |
+
],
|
| 464 |
+
"type": "go straight",
|
| 465 |
+
"value": 3,
|
| 466 |
+
"yaw": -1.5707963267948966
|
| 467 |
+
}
|
| 468 |
+
}
|
| 469 |
+
{
|
| 470 |
+
"action": {
|
| 471 |
+
"imageid": 36,
|
| 472 |
+
"pos": [
|
| 473 |
+
-547.1166931386078,
|
| 474 |
+
181.61935334234437,
|
| 475 |
+
60.54301560452633
|
| 476 |
+
],
|
| 477 |
+
"type": "go straight",
|
| 478 |
+
"value": 3,
|
| 479 |
+
"yaw": -1.5707963267948966
|
| 480 |
+
}
|
| 481 |
+
}
|
| 482 |
+
{
|
| 483 |
+
"action": {
|
| 484 |
+
"imageid": 37,
|
| 485 |
+
"pos": [
|
| 486 |
+
-547.1166931386078,
|
| 487 |
+
178.61935334234437,
|
| 488 |
+
60.54301560452633
|
| 489 |
+
],
|
| 490 |
+
"type": "go straight",
|
| 491 |
+
"value": 3,
|
| 492 |
+
"yaw": -1.5707963267948966
|
| 493 |
+
}
|
| 494 |
+
}
|
| 495 |
+
{
|
| 496 |
+
"action": {
|
| 497 |
+
"imageid": 38,
|
| 498 |
+
"pos": [
|
| 499 |
+
-547.1166931386078,
|
| 500 |
+
175.61935334234437,
|
| 501 |
+
60.54301560452633
|
| 502 |
+
],
|
| 503 |
+
"type": "go straight",
|
| 504 |
+
"value": 3,
|
| 505 |
+
"yaw": -1.5707963267948966
|
| 506 |
+
}
|
| 507 |
+
}
|
| 508 |
+
{
|
| 509 |
+
"action": {
|
| 510 |
+
"imageid": 39,
|
| 511 |
+
"pos": [
|
| 512 |
+
-547.1166931386078,
|
| 513 |
+
172.61935334234437,
|
| 514 |
+
60.54301560452633
|
| 515 |
+
],
|
| 516 |
+
"type": "go straight",
|
| 517 |
+
"value": 3,
|
| 518 |
+
"yaw": -1.5707963267948966
|
| 519 |
+
}
|
| 520 |
+
}
|
| 521 |
+
{
|
| 522 |
+
"action": {
|
| 523 |
+
"imageid": 40,
|
| 524 |
+
"pos": [
|
| 525 |
+
-547.1166931386078,
|
| 526 |
+
169.61935334234437,
|
| 527 |
+
60.54301560452633
|
| 528 |
+
],
|
| 529 |
+
"type": "go straight",
|
| 530 |
+
"value": 3,
|
| 531 |
+
"yaw": -1.5707963267948966
|
| 532 |
+
}
|
| 533 |
+
}
|
| 534 |
+
{
|
| 535 |
+
"action": {
|
| 536 |
+
"imageid": 41,
|
| 537 |
+
"pos": [
|
| 538 |
+
-547.1166931386078,
|
| 539 |
+
166.61935334234437,
|
| 540 |
+
60.54301560452633
|
| 541 |
+
],
|
| 542 |
+
"type": "stop",
|
| 543 |
+
"value": 0,
|
| 544 |
+
"yaw": -1.5707963267948966
|
| 545 |
+
}
|
| 546 |
+
}
|
| 547 |
+
{
|
| 548 |
+
"aim_landmark": {
|
| 549 |
+
"color": "test",
|
| 550 |
+
"feature": "test",
|
| 551 |
+
"position": [
|
| 552 |
+
-536.0,
|
| 553 |
+
156.0,
|
| 554 |
+
96.39971160888672
|
| 555 |
+
],
|
| 556 |
+
"shape": "test",
|
| 557 |
+
"size": "test",
|
| 558 |
+
"type": "building"
|
| 559 |
+
}
|
| 560 |
+
}
|
Image/env_game_gtav/low_average/2025-1-16_14-35-9_389040743/pose.jsonl
ADDED
|
@@ -0,0 +1,261 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-81.91294459709444,
|
| 6 |
+
1231.3457056778732,
|
| 7 |
+
70.4325836187327
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -2.6179938779914944
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-84.51102080844775,
|
| 19 |
+
1229.8457056778732,
|
| 20 |
+
70.4325836187327
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -2.6179938779914944
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-87.10909701980107,
|
| 32 |
+
1228.3457056778732,
|
| 33 |
+
70.4325836187327
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -2.6179938779914944
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-89.70717323115439,
|
| 45 |
+
1226.8457056778732,
|
| 46 |
+
70.4325836187327
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -2.6179938779914944
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-92.3052494425077,
|
| 58 |
+
1225.3457056778732,
|
| 59 |
+
70.4325836187327
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -2.6179938779914944
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-94.90332565386102,
|
| 71 |
+
1223.8457056778732,
|
| 72 |
+
70.4325836187327
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -2.6179938779914944
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-97.50140186521433,
|
| 84 |
+
1222.3457056778732,
|
| 85 |
+
70.4325836187327
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -2.6179938779914944
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-100.09947807656765,
|
| 97 |
+
1220.8457056778732,
|
| 98 |
+
70.4325836187327
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -2.6179938779914944
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-102.69755428792097,
|
| 110 |
+
1219.3457056778732,
|
| 111 |
+
70.4325836187327
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -2.6179938779914944
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-105.29563049927428,
|
| 123 |
+
1217.8457056778732,
|
| 124 |
+
70.4325836187327
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -2.6179938779914944
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-107.8937067106276,
|
| 136 |
+
1216.3457056778732,
|
| 137 |
+
70.4325836187327
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -2.6179938779914944
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-110.49178292198091,
|
| 149 |
+
1214.8457056778732,
|
| 150 |
+
70.4325836187327
|
| 151 |
+
],
|
| 152 |
+
"type": "turn right",
|
| 153 |
+
"value": 30,
|
| 154 |
+
"yaw": -2.6179938779914944
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-110.49178292198091,
|
| 162 |
+
1214.8457056778732,
|
| 163 |
+
70.4325836187327
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -3.141592653589793
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-113.49178292198091,
|
| 175 |
+
1214.8457056778732,
|
| 176 |
+
70.4325836187327
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 3.141592653589793
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-116.49178292198091,
|
| 188 |
+
1214.8457056778732,
|
| 189 |
+
70.4325836187327
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 3.141592653589793
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-119.49178292198091,
|
| 201 |
+
1214.8457056778732,
|
| 202 |
+
70.4325836187327
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 3.141592653589793
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-122.49178292198091,
|
| 214 |
+
1214.8457056778732,
|
| 215 |
+
70.4325836187327
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 3.141592653589793
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-125.49178292198091,
|
| 227 |
+
1214.8457056778732,
|
| 228 |
+
70.4325836187327
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 3.141592653589793
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
-128.49178292198093,
|
| 240 |
+
1214.8457056778732,
|
| 241 |
+
70.4325836187327
|
| 242 |
+
],
|
| 243 |
+
"type": "stop",
|
| 244 |
+
"value": 0,
|
| 245 |
+
"yaw": 3.141592653589793
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"aim_landmark": {
|
| 250 |
+
"color": "test",
|
| 251 |
+
"feature": "test",
|
| 252 |
+
"position": [
|
| 253 |
+
-196.0,
|
| 254 |
+
1196.0,
|
| 255 |
+
85.39334869384766
|
| 256 |
+
],
|
| 257 |
+
"shape": "test",
|
| 258 |
+
"size": "test",
|
| 259 |
+
"type": "building"
|
| 260 |
+
}
|
| 261 |
+
}
|
Image/env_game_gtav/low_average/2025-1-16_14-37-7_1707056552/pose.jsonl
ADDED
|
@@ -0,0 +1,378 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-870.8548386724211,
|
| 6 |
+
716.49596051856,
|
| 7 |
+
70.6180866361738
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 0.5235987755983084
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-868.2567624610679,
|
| 19 |
+
717.99596051856,
|
| 20 |
+
70.6180866361738
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 0.5235987755983084
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-865.6586862497145,
|
| 32 |
+
719.49596051856,
|
| 33 |
+
70.6180866361738
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 0.5235987755982894
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-863.0606100383611,
|
| 45 |
+
720.99596051856,
|
| 46 |
+
70.6180866361738
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 0.5235987755982894
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-860.4625338270077,
|
| 58 |
+
722.49596051856,
|
| 59 |
+
70.6180866361738
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 0.5235987755982894
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-857.8644576156544,
|
| 71 |
+
723.99596051856,
|
| 72 |
+
70.6180866361738
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 0.5235987755982894
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-855.266381404301,
|
| 84 |
+
725.49596051856,
|
| 85 |
+
70.6180866361738
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 0.5235987755982894
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-852.6683051929476,
|
| 97 |
+
726.99596051856,
|
| 98 |
+
70.6180866361738
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 0.5235987755982894
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-850.0702289815943,
|
| 110 |
+
728.49596051856,
|
| 111 |
+
70.6180866361738
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 0.5235987755982894
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-847.4721527702409,
|
| 123 |
+
729.99596051856,
|
| 124 |
+
70.6180866361738
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 0.5235987755982894
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-844.8740765588875,
|
| 136 |
+
731.49596051856,
|
| 137 |
+
70.6180866361738
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 0.5235987755982894
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-842.2760003475341,
|
| 149 |
+
732.99596051856,
|
| 150 |
+
70.6180866361738
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 0.5235987755982894
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-839.6779241361808,
|
| 162 |
+
734.49596051856,
|
| 163 |
+
70.6180866361738
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 0.5235987755982894
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-837.0798479248274,
|
| 175 |
+
735.99596051856,
|
| 176 |
+
70.6180866361738
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 0.5235987755982894
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-834.481771713474,
|
| 188 |
+
737.49596051856,
|
| 189 |
+
70.6180866361738
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 0.5235987755982894
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-831.8836955021206,
|
| 201 |
+
738.99596051856,
|
| 202 |
+
70.6180866361738
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 0.5235987755982894
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-829.2856192907673,
|
| 214 |
+
740.49596051856,
|
| 215 |
+
70.6180866361738
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 0.5235987755982894
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-826.6875430794139,
|
| 227 |
+
741.99596051856,
|
| 228 |
+
70.6180866361738
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 0.5235987755982894
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
-824.0894668680605,
|
| 240 |
+
743.49596051856,
|
| 241 |
+
70.6180866361738
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 0.5235987755982894
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
-821.4913906567072,
|
| 253 |
+
744.99596051856,
|
| 254 |
+
70.6180866361738
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": 0.5235987755982894
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
-818.8933144453538,
|
| 266 |
+
746.49596051856,
|
| 267 |
+
70.6180866361738
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": 0.5235987755982894
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
-816.2952382340004,
|
| 279 |
+
747.99596051856,
|
| 280 |
+
70.6180866361738
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": 0.5235987755982894
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
-813.697162022647,
|
| 292 |
+
749.49596051856,
|
| 293 |
+
70.6180866361738
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": 0.5235987755982894
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
-811.0990858112937,
|
| 305 |
+
750.99596051856,
|
| 306 |
+
70.6180866361738
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": 0.5235987755982894
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
-808.5010095999403,
|
| 318 |
+
752.49596051856,
|
| 319 |
+
70.6180866361738
|
| 320 |
+
],
|
| 321 |
+
"type": "go straight",
|
| 322 |
+
"value": 3,
|
| 323 |
+
"yaw": 0.5235987755982894
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"action": {
|
| 328 |
+
"imageid": 25,
|
| 329 |
+
"pos": [
|
| 330 |
+
-805.9029333885869,
|
| 331 |
+
753.99596051856,
|
| 332 |
+
70.6180866361738
|
| 333 |
+
],
|
| 334 |
+
"type": "go straight",
|
| 335 |
+
"value": 3,
|
| 336 |
+
"yaw": 0.5235987755982894
|
| 337 |
+
}
|
| 338 |
+
}
|
| 339 |
+
{
|
| 340 |
+
"action": {
|
| 341 |
+
"imageid": 26,
|
| 342 |
+
"pos": [
|
| 343 |
+
-803.3048571772335,
|
| 344 |
+
755.49596051856,
|
| 345 |
+
70.6180866361738
|
| 346 |
+
],
|
| 347 |
+
"type": "go straight",
|
| 348 |
+
"value": 3,
|
| 349 |
+
"yaw": 0.5235987755982894
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
{
|
| 353 |
+
"action": {
|
| 354 |
+
"imageid": 27,
|
| 355 |
+
"pos": [
|
| 356 |
+
-800.7067809658802,
|
| 357 |
+
756.99596051856,
|
| 358 |
+
70.6180866361738
|
| 359 |
+
],
|
| 360 |
+
"type": "stop",
|
| 361 |
+
"value": 0,
|
| 362 |
+
"yaw": 0.5235987755982894
|
| 363 |
+
}
|
| 364 |
+
}
|
| 365 |
+
{
|
| 366 |
+
"aim_landmark": {
|
| 367 |
+
"color": "test",
|
| 368 |
+
"feature": "test",
|
| 369 |
+
"position": [
|
| 370 |
+
-772.0,
|
| 371 |
+
776.0,
|
| 372 |
+
86.73384094238281
|
| 373 |
+
],
|
| 374 |
+
"shape": "test",
|
| 375 |
+
"size": "test",
|
| 376 |
+
"type": "building"
|
| 377 |
+
}
|
| 378 |
+
}
|
Image/env_game_gtav/low_average/2025-1-16_14-41-50_1452888574/pose.jsonl
ADDED
|
@@ -0,0 +1,495 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-350.4515809815502,
|
| 6 |
+
1404.7767749447164,
|
| 7 |
+
85.54044217862443
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 0.0
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-347.4515809815502,
|
| 19 |
+
1404.7767749447164,
|
| 20 |
+
85.54044217862443
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 0.0
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-344.4515809815502,
|
| 32 |
+
1404.7767749447164,
|
| 33 |
+
85.54044217862443
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 0.0
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-341.4515809815502,
|
| 45 |
+
1404.7767749447164,
|
| 46 |
+
85.54044217862443
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 0.0
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-338.4515809815502,
|
| 58 |
+
1404.7767749447164,
|
| 59 |
+
85.54044217862443
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 0.0
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-335.4515809815502,
|
| 71 |
+
1404.7767749447164,
|
| 72 |
+
85.54044217862443
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 0.0
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-332.4515809815502,
|
| 84 |
+
1404.7767749447164,
|
| 85 |
+
85.54044217862443
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 0.0
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-329.4515809815502,
|
| 97 |
+
1404.7767749447164,
|
| 98 |
+
85.54044217862443
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 0.0
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-326.4515809815502,
|
| 110 |
+
1404.7767749447164,
|
| 111 |
+
85.54044217862443
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 0.0
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-323.4515809815502,
|
| 123 |
+
1404.7767749447164,
|
| 124 |
+
85.54044217862443
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 0.0
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-320.4515809815502,
|
| 136 |
+
1404.7767749447164,
|
| 137 |
+
85.54044217862443
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 0.0
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-317.4515809815502,
|
| 149 |
+
1404.7767749447164,
|
| 150 |
+
85.54044217862443
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 0.0
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-314.4515809815502,
|
| 162 |
+
1404.7767749447164,
|
| 163 |
+
85.54044217862443
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 0.0
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-311.4515809815502,
|
| 175 |
+
1404.7767749447164,
|
| 176 |
+
85.54044217862443
|
| 177 |
+
],
|
| 178 |
+
"type": "turn left",
|
| 179 |
+
"value": 30,
|
| 180 |
+
"yaw": 0.0
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-311.4515809815502,
|
| 188 |
+
1404.7767749447164,
|
| 189 |
+
85.54044217862443
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 0.5235987755982988
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-308.8535047701969,
|
| 201 |
+
1406.2767749447164,
|
| 202 |
+
85.54044217862443
|
| 203 |
+
],
|
| 204 |
+
"type": "turn left",
|
| 205 |
+
"value": 30,
|
| 206 |
+
"yaw": 0.5235987755982988
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-308.8535047701969,
|
| 214 |
+
1406.2767749447164,
|
| 215 |
+
85.54044217862443
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 1.0471975511965976
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-307.3535047701969,
|
| 227 |
+
1408.8748511560698,
|
| 228 |
+
85.54044217862443
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 1.0471975511966072
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
-305.8535047701969,
|
| 240 |
+
1411.4729273674232,
|
| 241 |
+
85.54044217862443
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 1.0471975511966072
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
-304.3535047701969,
|
| 253 |
+
1414.0710035787765,
|
| 254 |
+
85.54044217862443
|
| 255 |
+
],
|
| 256 |
+
"type": "turn right",
|
| 257 |
+
"value": 30,
|
| 258 |
+
"yaw": 1.0471975511966072
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
-304.3535047701969,
|
| 266 |
+
1414.0710035787765,
|
| 267 |
+
85.54044217862443
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": 0.5235987755983084
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
-301.75542855884356,
|
| 279 |
+
1415.5710035787765,
|
| 280 |
+
85.54044217862443
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": 0.5235987755982988
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
-299.15735234749025,
|
| 292 |
+
1417.0710035787765,
|
| 293 |
+
85.54044217862443
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": 0.5235987755982988
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
-296.55927613613693,
|
| 305 |
+
1418.5710035787765,
|
| 306 |
+
85.54044217862443
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": 0.5235987755982988
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
-293.9611999247836,
|
| 318 |
+
1420.0710035787765,
|
| 319 |
+
85.54044217862443
|
| 320 |
+
],
|
| 321 |
+
"type": "go straight",
|
| 322 |
+
"value": 3,
|
| 323 |
+
"yaw": 0.5235987755982988
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"action": {
|
| 328 |
+
"imageid": 25,
|
| 329 |
+
"pos": [
|
| 330 |
+
-291.3631237134303,
|
| 331 |
+
1421.5710035787765,
|
| 332 |
+
85.54044217862443
|
| 333 |
+
],
|
| 334 |
+
"type": "go straight",
|
| 335 |
+
"value": 3,
|
| 336 |
+
"yaw": 0.5235987755982988
|
| 337 |
+
}
|
| 338 |
+
}
|
| 339 |
+
{
|
| 340 |
+
"action": {
|
| 341 |
+
"imageid": 26,
|
| 342 |
+
"pos": [
|
| 343 |
+
-288.765047502077,
|
| 344 |
+
1423.0710035787765,
|
| 345 |
+
85.54044217862443
|
| 346 |
+
],
|
| 347 |
+
"type": "go straight",
|
| 348 |
+
"value": 3,
|
| 349 |
+
"yaw": 0.5235987755982988
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
{
|
| 353 |
+
"action": {
|
| 354 |
+
"imageid": 27,
|
| 355 |
+
"pos": [
|
| 356 |
+
-286.16697129072367,
|
| 357 |
+
1424.5710035787765,
|
| 358 |
+
85.54044217862443
|
| 359 |
+
],
|
| 360 |
+
"type": "go straight",
|
| 361 |
+
"value": 3,
|
| 362 |
+
"yaw": 0.5235987755982988
|
| 363 |
+
}
|
| 364 |
+
}
|
| 365 |
+
{
|
| 366 |
+
"action": {
|
| 367 |
+
"imageid": 28,
|
| 368 |
+
"pos": [
|
| 369 |
+
-283.56889507937035,
|
| 370 |
+
1426.0710035787765,
|
| 371 |
+
85.54044217862443
|
| 372 |
+
],
|
| 373 |
+
"type": "go straight",
|
| 374 |
+
"value": 3,
|
| 375 |
+
"yaw": 0.5235987755982988
|
| 376 |
+
}
|
| 377 |
+
}
|
| 378 |
+
{
|
| 379 |
+
"action": {
|
| 380 |
+
"imageid": 29,
|
| 381 |
+
"pos": [
|
| 382 |
+
-280.97081886801703,
|
| 383 |
+
1427.5710035787765,
|
| 384 |
+
85.54044217862443
|
| 385 |
+
],
|
| 386 |
+
"type": "go straight",
|
| 387 |
+
"value": 3,
|
| 388 |
+
"yaw": 0.5235987755982988
|
| 389 |
+
}
|
| 390 |
+
}
|
| 391 |
+
{
|
| 392 |
+
"action": {
|
| 393 |
+
"imageid": 30,
|
| 394 |
+
"pos": [
|
| 395 |
+
-278.3727426566637,
|
| 396 |
+
1429.0710035787765,
|
| 397 |
+
85.54044217862443
|
| 398 |
+
],
|
| 399 |
+
"type": "go straight",
|
| 400 |
+
"value": 3,
|
| 401 |
+
"yaw": 0.5235987755982988
|
| 402 |
+
}
|
| 403 |
+
}
|
| 404 |
+
{
|
| 405 |
+
"action": {
|
| 406 |
+
"imageid": 31,
|
| 407 |
+
"pos": [
|
| 408 |
+
-275.7746664453104,
|
| 409 |
+
1430.5710035787765,
|
| 410 |
+
85.54044217862443
|
| 411 |
+
],
|
| 412 |
+
"type": "go straight",
|
| 413 |
+
"value": 3,
|
| 414 |
+
"yaw": 0.5235987755982988
|
| 415 |
+
}
|
| 416 |
+
}
|
| 417 |
+
{
|
| 418 |
+
"action": {
|
| 419 |
+
"imageid": 32,
|
| 420 |
+
"pos": [
|
| 421 |
+
-273.1765902339571,
|
| 422 |
+
1432.0710035787765,
|
| 423 |
+
85.54044217862443
|
| 424 |
+
],
|
| 425 |
+
"type": "go straight",
|
| 426 |
+
"value": 3,
|
| 427 |
+
"yaw": 0.5235987755982988
|
| 428 |
+
}
|
| 429 |
+
}
|
| 430 |
+
{
|
| 431 |
+
"action": {
|
| 432 |
+
"imageid": 33,
|
| 433 |
+
"pos": [
|
| 434 |
+
-270.57851402260377,
|
| 435 |
+
1433.5710035787765,
|
| 436 |
+
85.54044217862443
|
| 437 |
+
],
|
| 438 |
+
"type": "go straight",
|
| 439 |
+
"value": 3,
|
| 440 |
+
"yaw": 0.5235987755982988
|
| 441 |
+
}
|
| 442 |
+
}
|
| 443 |
+
{
|
| 444 |
+
"action": {
|
| 445 |
+
"imageid": 34,
|
| 446 |
+
"pos": [
|
| 447 |
+
-267.98043781125045,
|
| 448 |
+
1435.0710035787765,
|
| 449 |
+
85.54044217862443
|
| 450 |
+
],
|
| 451 |
+
"type": "go straight",
|
| 452 |
+
"value": 3,
|
| 453 |
+
"yaw": 0.5235987755982988
|
| 454 |
+
}
|
| 455 |
+
}
|
| 456 |
+
{
|
| 457 |
+
"action": {
|
| 458 |
+
"imageid": 35,
|
| 459 |
+
"pos": [
|
| 460 |
+
-265.38236159989714,
|
| 461 |
+
1436.5710035787765,
|
| 462 |
+
85.54044217862443
|
| 463 |
+
],
|
| 464 |
+
"type": "go straight",
|
| 465 |
+
"value": 3,
|
| 466 |
+
"yaw": 0.5235987755982988
|
| 467 |
+
}
|
| 468 |
+
}
|
| 469 |
+
{
|
| 470 |
+
"action": {
|
| 471 |
+
"imageid": 36,
|
| 472 |
+
"pos": [
|
| 473 |
+
-262.7842853885438,
|
| 474 |
+
1438.0710035787765,
|
| 475 |
+
85.54044217862443
|
| 476 |
+
],
|
| 477 |
+
"type": "stop",
|
| 478 |
+
"value": 0,
|
| 479 |
+
"yaw": 0.5235987755982988
|
| 480 |
+
}
|
| 481 |
+
}
|
| 482 |
+
{
|
| 483 |
+
"aim_landmark": {
|
| 484 |
+
"color": "test",
|
| 485 |
+
"feature": "test",
|
| 486 |
+
"position": [
|
| 487 |
+
-240.0,
|
| 488 |
+
1444.0,
|
| 489 |
+
63.37196731567383
|
| 490 |
+
],
|
| 491 |
+
"shape": "test",
|
| 492 |
+
"size": "test",
|
| 493 |
+
"type": "building"
|
| 494 |
+
}
|
| 495 |
+
}
|
Image/env_game_gtav/low_average/2025-1-16_14-42-35_962033002/pose.jsonl
ADDED
|
@@ -0,0 +1,417 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-814.2891577530783,
|
| 6 |
+
1114.262381980819,
|
| 7 |
+
66.7099404442956
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -1.0471975511966072
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-812.7891577530783,
|
| 19 |
+
1111.6643057694657,
|
| 20 |
+
66.7099404442956
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -1.0471975511966072
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-811.2891577530783,
|
| 32 |
+
1109.0662295581124,
|
| 33 |
+
66.7099404442956
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -1.0471975511966072
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-809.7891577530783,
|
| 45 |
+
1106.468153346759,
|
| 46 |
+
66.7099404442956
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -1.0471975511966072
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-808.2891577530783,
|
| 58 |
+
1103.8700771354056,
|
| 59 |
+
66.7099404442956
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -1.0471975511966072
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-806.7891577530783,
|
| 71 |
+
1101.2720009240522,
|
| 72 |
+
66.7099404442956
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -1.0471975511966072
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-805.2891577530783,
|
| 84 |
+
1098.6739247126989,
|
| 85 |
+
66.7099404442956
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -1.0471975511966072
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-803.7891577530783,
|
| 97 |
+
1096.0758485013455,
|
| 98 |
+
66.7099404442956
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -1.0471975511966072
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-802.2891577530783,
|
| 110 |
+
1093.4777722899921,
|
| 111 |
+
66.7099404442956
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -1.0471975511966072
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-800.7891577530783,
|
| 123 |
+
1090.8796960786387,
|
| 124 |
+
66.7099404442956
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -1.0471975511966072
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-799.2891577530783,
|
| 136 |
+
1088.2816198672854,
|
| 137 |
+
66.7099404442956
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -1.0471975511966072
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-797.7891577530783,
|
| 149 |
+
1085.683543655932,
|
| 150 |
+
66.7099404442956
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -1.0471975511966072
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-796.2891577530783,
|
| 162 |
+
1083.0854674445786,
|
| 163 |
+
66.7099404442956
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -1.0471975511966072
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-794.7891577530783,
|
| 175 |
+
1080.4873912332253,
|
| 176 |
+
66.7099404442956
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -1.0471975511966072
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-793.2891577530783,
|
| 188 |
+
1077.8893150218719,
|
| 189 |
+
66.7099404442956
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -1.0471975511966072
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-791.7891577530783,
|
| 201 |
+
1075.2912388105185,
|
| 202 |
+
66.7099404442956
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -1.0471975511966072
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-790.2891577530783,
|
| 214 |
+
1072.6931625991651,
|
| 215 |
+
66.7099404442956
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -1.0471975511966072
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-788.7891577530783,
|
| 227 |
+
1070.0950863878118,
|
| 228 |
+
66.7099404442956
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": -1.0471975511966072
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
-787.2891577530783,
|
| 240 |
+
1067.4970101764584,
|
| 241 |
+
66.7099404442956
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": -1.0471975511966072
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
-785.7891577530783,
|
| 253 |
+
1064.898933965105,
|
| 254 |
+
66.7099404442956
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": -1.0471975511966072
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
-784.2891577530783,
|
| 266 |
+
1062.3008577537516,
|
| 267 |
+
66.7099404442956
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": -1.0471975511966072
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
-782.7891577530783,
|
| 279 |
+
1059.7027815423983,
|
| 280 |
+
66.7099404442956
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": -1.0471975511966072
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
-781.2891577530783,
|
| 292 |
+
1057.104705331045,
|
| 293 |
+
66.7099404442956
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": -1.0471975511966072
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
-779.7891577530783,
|
| 305 |
+
1054.5066291196915,
|
| 306 |
+
66.7099404442956
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": -1.0471975511966072
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
-778.2891577530783,
|
| 318 |
+
1051.9085529083382,
|
| 319 |
+
66.7099404442956
|
| 320 |
+
],
|
| 321 |
+
"type": "go straight",
|
| 322 |
+
"value": 3,
|
| 323 |
+
"yaw": -1.0471975511966072
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"action": {
|
| 328 |
+
"imageid": 25,
|
| 329 |
+
"pos": [
|
| 330 |
+
-776.7891577530783,
|
| 331 |
+
1049.3104766969848,
|
| 332 |
+
66.7099404442956
|
| 333 |
+
],
|
| 334 |
+
"type": "go straight",
|
| 335 |
+
"value": 3,
|
| 336 |
+
"yaw": -1.0471975511966072
|
| 337 |
+
}
|
| 338 |
+
}
|
| 339 |
+
{
|
| 340 |
+
"action": {
|
| 341 |
+
"imageid": 26,
|
| 342 |
+
"pos": [
|
| 343 |
+
-775.2891577530783,
|
| 344 |
+
1046.7124004856314,
|
| 345 |
+
66.7099404442956
|
| 346 |
+
],
|
| 347 |
+
"type": "go straight",
|
| 348 |
+
"value": 3,
|
| 349 |
+
"yaw": -1.0471975511966072
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
{
|
| 353 |
+
"action": {
|
| 354 |
+
"imageid": 27,
|
| 355 |
+
"pos": [
|
| 356 |
+
-773.7891577530783,
|
| 357 |
+
1044.114324274278,
|
| 358 |
+
66.7099404442956
|
| 359 |
+
],
|
| 360 |
+
"type": "go straight",
|
| 361 |
+
"value": 3,
|
| 362 |
+
"yaw": -1.0471975511966072
|
| 363 |
+
}
|
| 364 |
+
}
|
| 365 |
+
{
|
| 366 |
+
"action": {
|
| 367 |
+
"imageid": 28,
|
| 368 |
+
"pos": [
|
| 369 |
+
-772.2891577530783,
|
| 370 |
+
1041.5162480629247,
|
| 371 |
+
66.7099404442956
|
| 372 |
+
],
|
| 373 |
+
"type": "turn right",
|
| 374 |
+
"value": 30,
|
| 375 |
+
"yaw": -1.0471975511966072
|
| 376 |
+
}
|
| 377 |
+
}
|
| 378 |
+
{
|
| 379 |
+
"action": {
|
| 380 |
+
"imageid": 29,
|
| 381 |
+
"pos": [
|
| 382 |
+
-772.2891577530783,
|
| 383 |
+
1041.5162480629247,
|
| 384 |
+
66.7099404442956
|
| 385 |
+
],
|
| 386 |
+
"type": "go straight",
|
| 387 |
+
"value": 3,
|
| 388 |
+
"yaw": -1.5707963267949059
|
| 389 |
+
}
|
| 390 |
+
}
|
| 391 |
+
{
|
| 392 |
+
"action": {
|
| 393 |
+
"imageid": 30,
|
| 394 |
+
"pos": [
|
| 395 |
+
-772.2891577530783,
|
| 396 |
+
1038.5162480629247,
|
| 397 |
+
66.7099404442956
|
| 398 |
+
],
|
| 399 |
+
"type": "stop",
|
| 400 |
+
"value": 0,
|
| 401 |
+
"yaw": -1.5707963267949059
|
| 402 |
+
}
|
| 403 |
+
}
|
| 404 |
+
{
|
| 405 |
+
"aim_landmark": {
|
| 406 |
+
"color": "test",
|
| 407 |
+
"feature": "test",
|
| 408 |
+
"position": [
|
| 409 |
+
-760.0,
|
| 410 |
+
1016.0,
|
| 411 |
+
80.2428970336914
|
| 412 |
+
],
|
| 413 |
+
"shape": "test",
|
| 414 |
+
"size": "test",
|
| 415 |
+
"type": "building"
|
| 416 |
+
}
|
| 417 |
+
}
|
Image/env_game_gtav/low_average/2025-1-16_14-44-23_151519934/pose.jsonl
ADDED
|
@@ -0,0 +1,352 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-502.9535432179323,
|
| 6 |
+
564.5003357298366,
|
| 7 |
+
88.54414486769844
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 3.141592653589793
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-505.9535432179323,
|
| 19 |
+
564.5003357298366,
|
| 20 |
+
88.54414486769844
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 3.141592653589793
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-508.9535432179323,
|
| 32 |
+
564.5003357298366,
|
| 33 |
+
88.54414486769844
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 3.141592653589793
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-511.9535432179323,
|
| 45 |
+
564.5003357298366,
|
| 46 |
+
88.54414486769844
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 3.141592653589793
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-514.9535432179323,
|
| 58 |
+
564.5003357298366,
|
| 59 |
+
88.54414486769844
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 3.141592653589793
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-517.9535432179323,
|
| 71 |
+
564.5003357298366,
|
| 72 |
+
88.54414486769844
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 3.141592653589793
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-520.9535432179323,
|
| 84 |
+
564.5003357298366,
|
| 85 |
+
88.54414486769844
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 3.141592653589793
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-523.9535432179323,
|
| 97 |
+
564.5003357298366,
|
| 98 |
+
88.54414486769844
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 3.141592653589793
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-526.9535432179323,
|
| 110 |
+
564.5003357298366,
|
| 111 |
+
88.54414486769844
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 3.141592653589793
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-529.9535432179323,
|
| 123 |
+
564.5003357298366,
|
| 124 |
+
88.54414486769844
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 3.141592653589793
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-532.9535432179323,
|
| 136 |
+
564.5003357298366,
|
| 137 |
+
88.54414486769844
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 3.141592653589793
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-535.9535432179323,
|
| 149 |
+
564.5003357298366,
|
| 150 |
+
88.54414486769844
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 3.141592653589793
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-538.9535432179323,
|
| 162 |
+
564.5003357298366,
|
| 163 |
+
88.54414486769844
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 3.141592653589793
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-541.9535432179323,
|
| 175 |
+
564.5003357298366,
|
| 176 |
+
88.54414486769844
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 3.141592653589793
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-544.9535432179323,
|
| 188 |
+
564.5003357298366,
|
| 189 |
+
88.54414486769844
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 3.141592653589793
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-547.9535432179323,
|
| 201 |
+
564.5003357298366,
|
| 202 |
+
88.54414486769844
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 3.141592653589793
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-550.9535432179323,
|
| 214 |
+
564.5003357298366,
|
| 215 |
+
88.54414486769844
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 3.141592653589793
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-553.9535432179323,
|
| 227 |
+
564.5003357298366,
|
| 228 |
+
88.54414486769844
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 3.141592653589793
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
-556.9535432179323,
|
| 240 |
+
564.5003357298366,
|
| 241 |
+
88.54414486769844
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 3.141592653589793
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
-559.9535432179323,
|
| 253 |
+
564.5003357298366,
|
| 254 |
+
88.54414486769844
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": 3.141592653589793
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
-562.9535432179323,
|
| 266 |
+
564.5003357298366,
|
| 267 |
+
88.54414486769844
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": 3.141592653589793
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
-565.9535432179323,
|
| 279 |
+
564.5003357298366,
|
| 280 |
+
88.54414486769844
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": 3.141592653589793
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
-568.9535432179323,
|
| 292 |
+
564.5003357298366,
|
| 293 |
+
88.54414486769844
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": 3.141592653589793
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
-571.9535432179323,
|
| 305 |
+
564.5003357298366,
|
| 306 |
+
88.54414486769844
|
| 307 |
+
],
|
| 308 |
+
"type": "turn left",
|
| 309 |
+
"value": 30,
|
| 310 |
+
"yaw": 3.141592653589793
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
-571.9535432179323,
|
| 318 |
+
564.5003357298366,
|
| 319 |
+
88.54414486769844
|
| 320 |
+
],
|
| 321 |
+
"type": "go straight",
|
| 322 |
+
"value": 3,
|
| 323 |
+
"yaw": 3.665191429188092
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"action": {
|
| 328 |
+
"imageid": 25,
|
| 329 |
+
"pos": [
|
| 330 |
+
-574.5516194292857,
|
| 331 |
+
563.0003357298366,
|
| 332 |
+
88.54414486769844
|
| 333 |
+
],
|
| 334 |
+
"type": "stop",
|
| 335 |
+
"value": 0,
|
| 336 |
+
"yaw": 3.665191429188092
|
| 337 |
+
}
|
| 338 |
+
}
|
| 339 |
+
{
|
| 340 |
+
"aim_landmark": {
|
| 341 |
+
"color": "test",
|
| 342 |
+
"feature": "test",
|
| 343 |
+
"position": [
|
| 344 |
+
-604.0,
|
| 345 |
+
560.0,
|
| 346 |
+
60.84794235229492
|
| 347 |
+
],
|
| 348 |
+
"shape": "test",
|
| 349 |
+
"size": "test",
|
| 350 |
+
"type": "building"
|
| 351 |
+
}
|
| 352 |
+
}
|
Image/env_game_gtav/low_average/2025-1-16_14-49-30_51245830/pose.jsonl
ADDED
|
@@ -0,0 +1,469 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-103.813247477843,
|
| 6 |
+
1172.8780351419882,
|
| 7 |
+
76.40626590799266
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 0.0
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-100.813247477843,
|
| 19 |
+
1172.8780351419882,
|
| 20 |
+
76.40626590799266
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 0.0
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-97.813247477843,
|
| 32 |
+
1172.8780351419882,
|
| 33 |
+
76.40626590799266
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 0.0
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-94.813247477843,
|
| 45 |
+
1172.8780351419882,
|
| 46 |
+
76.40626590799266
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 0.0
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-91.813247477843,
|
| 58 |
+
1172.8780351419882,
|
| 59 |
+
76.40626590799266
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 0.0
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-88.813247477843,
|
| 71 |
+
1172.8780351419882,
|
| 72 |
+
76.40626590799266
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 0.0
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-85.813247477843,
|
| 84 |
+
1172.8780351419882,
|
| 85 |
+
76.40626590799266
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 0.0
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-82.813247477843,
|
| 97 |
+
1172.8780351419882,
|
| 98 |
+
76.40626590799266
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 0.0
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-79.813247477843,
|
| 110 |
+
1172.8780351419882,
|
| 111 |
+
76.40626590799266
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 0.0
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-76.813247477843,
|
| 123 |
+
1172.8780351419882,
|
| 124 |
+
76.40626590799266
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 0.0
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-73.813247477843,
|
| 136 |
+
1172.8780351419882,
|
| 137 |
+
76.40626590799266
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 0.0
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-70.813247477843,
|
| 149 |
+
1172.8780351419882,
|
| 150 |
+
76.40626590799266
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 0.0
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-67.813247477843,
|
| 162 |
+
1172.8780351419882,
|
| 163 |
+
76.40626590799266
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 0.0
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-64.813247477843,
|
| 175 |
+
1172.8780351419882,
|
| 176 |
+
76.40626590799266
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 0.0
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-61.81324747784301,
|
| 188 |
+
1172.8780351419882,
|
| 189 |
+
76.40626590799266
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 0.0
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-58.81324747784301,
|
| 201 |
+
1172.8780351419882,
|
| 202 |
+
76.40626590799266
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 0.0
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-55.81324747784301,
|
| 214 |
+
1172.8780351419882,
|
| 215 |
+
76.40626590799266
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 0.0
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-52.81324747784301,
|
| 227 |
+
1172.8780351419882,
|
| 228 |
+
76.40626590799266
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 0.0
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
-49.81324747784301,
|
| 240 |
+
1172.8780351419882,
|
| 241 |
+
76.40626590799266
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 0.0
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
-46.81324747784301,
|
| 253 |
+
1172.8780351419882,
|
| 254 |
+
76.40626590799266
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": 0.0
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
-43.81324747784301,
|
| 266 |
+
1172.8780351419882,
|
| 267 |
+
76.40626590799266
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": 0.0
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
-40.81324747784301,
|
| 279 |
+
1172.8780351419882,
|
| 280 |
+
76.40626590799266
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": 0.0
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
-37.81324747784301,
|
| 292 |
+
1172.8780351419882,
|
| 293 |
+
76.40626590799266
|
| 294 |
+
],
|
| 295 |
+
"type": "turn left",
|
| 296 |
+
"value": 30,
|
| 297 |
+
"yaw": 0.0
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
-37.81324747784301,
|
| 305 |
+
1172.8780351419882,
|
| 306 |
+
76.40626590799266
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": 0.5235987755982988
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
-35.21517126648969,
|
| 318 |
+
1174.3780351419882,
|
| 319 |
+
76.40626590799266
|
| 320 |
+
],
|
| 321 |
+
"type": "go straight",
|
| 322 |
+
"value": 3,
|
| 323 |
+
"yaw": 0.5235987755982988
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"action": {
|
| 328 |
+
"imageid": 25,
|
| 329 |
+
"pos": [
|
| 330 |
+
-32.617095055136375,
|
| 331 |
+
1175.8780351419882,
|
| 332 |
+
76.40626590799266
|
| 333 |
+
],
|
| 334 |
+
"type": "go straight",
|
| 335 |
+
"value": 3,
|
| 336 |
+
"yaw": 0.5235987755982988
|
| 337 |
+
}
|
| 338 |
+
}
|
| 339 |
+
{
|
| 340 |
+
"action": {
|
| 341 |
+
"imageid": 26,
|
| 342 |
+
"pos": [
|
| 343 |
+
-30.01901884378306,
|
| 344 |
+
1177.3780351419882,
|
| 345 |
+
76.40626590799266
|
| 346 |
+
],
|
| 347 |
+
"type": "go straight",
|
| 348 |
+
"value": 3,
|
| 349 |
+
"yaw": 0.5235987755982988
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
{
|
| 353 |
+
"action": {
|
| 354 |
+
"imageid": 27,
|
| 355 |
+
"pos": [
|
| 356 |
+
-27.420942632429743,
|
| 357 |
+
1178.8780351419882,
|
| 358 |
+
76.40626590799266
|
| 359 |
+
],
|
| 360 |
+
"type": "go straight",
|
| 361 |
+
"value": 3,
|
| 362 |
+
"yaw": 0.5235987755982988
|
| 363 |
+
}
|
| 364 |
+
}
|
| 365 |
+
{
|
| 366 |
+
"action": {
|
| 367 |
+
"imageid": 28,
|
| 368 |
+
"pos": [
|
| 369 |
+
-24.822866421076426,
|
| 370 |
+
1180.3780351419882,
|
| 371 |
+
76.40626590799266
|
| 372 |
+
],
|
| 373 |
+
"type": "go straight",
|
| 374 |
+
"value": 3,
|
| 375 |
+
"yaw": 0.5235987755982988
|
| 376 |
+
}
|
| 377 |
+
}
|
| 378 |
+
{
|
| 379 |
+
"action": {
|
| 380 |
+
"imageid": 29,
|
| 381 |
+
"pos": [
|
| 382 |
+
-22.22479020972311,
|
| 383 |
+
1181.8780351419882,
|
| 384 |
+
76.40626590799266
|
| 385 |
+
],
|
| 386 |
+
"type": "go straight",
|
| 387 |
+
"value": 3,
|
| 388 |
+
"yaw": 0.5235987755982988
|
| 389 |
+
}
|
| 390 |
+
}
|
| 391 |
+
{
|
| 392 |
+
"action": {
|
| 393 |
+
"imageid": 30,
|
| 394 |
+
"pos": [
|
| 395 |
+
-19.626713998369794,
|
| 396 |
+
1183.3780351419882,
|
| 397 |
+
76.40626590799266
|
| 398 |
+
],
|
| 399 |
+
"type": "turn left",
|
| 400 |
+
"value": 30,
|
| 401 |
+
"yaw": 0.5235987755982988
|
| 402 |
+
}
|
| 403 |
+
}
|
| 404 |
+
{
|
| 405 |
+
"action": {
|
| 406 |
+
"imageid": 31,
|
| 407 |
+
"pos": [
|
| 408 |
+
-19.626713998369794,
|
| 409 |
+
1183.3780351419882,
|
| 410 |
+
76.40626590799266
|
| 411 |
+
],
|
| 412 |
+
"type": "go straight",
|
| 413 |
+
"value": 3,
|
| 414 |
+
"yaw": 1.0471975511965976
|
| 415 |
+
}
|
| 416 |
+
}
|
| 417 |
+
{
|
| 418 |
+
"action": {
|
| 419 |
+
"imageid": 32,
|
| 420 |
+
"pos": [
|
| 421 |
+
-18.126713998369794,
|
| 422 |
+
1185.9761113533416,
|
| 423 |
+
76.40626590799266
|
| 424 |
+
],
|
| 425 |
+
"type": "go straight",
|
| 426 |
+
"value": 3,
|
| 427 |
+
"yaw": 1.0471975511966072
|
| 428 |
+
}
|
| 429 |
+
}
|
| 430 |
+
{
|
| 431 |
+
"action": {
|
| 432 |
+
"imageid": 33,
|
| 433 |
+
"pos": [
|
| 434 |
+
-16.626713998369794,
|
| 435 |
+
1188.574187564695,
|
| 436 |
+
76.40626590799266
|
| 437 |
+
],
|
| 438 |
+
"type": "go straight",
|
| 439 |
+
"value": 3,
|
| 440 |
+
"yaw": 1.0471975511966072
|
| 441 |
+
}
|
| 442 |
+
}
|
| 443 |
+
{
|
| 444 |
+
"action": {
|
| 445 |
+
"imageid": 34,
|
| 446 |
+
"pos": [
|
| 447 |
+
-15.126713998369794,
|
| 448 |
+
1191.1722637760483,
|
| 449 |
+
76.40626590799266
|
| 450 |
+
],
|
| 451 |
+
"type": "stop",
|
| 452 |
+
"value": 0,
|
| 453 |
+
"yaw": 1.0471975511966072
|
| 454 |
+
}
|
| 455 |
+
}
|
| 456 |
+
{
|
| 457 |
+
"aim_landmark": {
|
| 458 |
+
"color": "test",
|
| 459 |
+
"feature": "test",
|
| 460 |
+
"position": [
|
| 461 |
+
4.0,
|
| 462 |
+
1196.0,
|
| 463 |
+
67.68890380859375
|
| 464 |
+
],
|
| 465 |
+
"shape": "test",
|
| 466 |
+
"size": "test",
|
| 467 |
+
"type": "building"
|
| 468 |
+
}
|
| 469 |
+
}
|
Image/env_game_gtav/low_average/2025-1-16_14-54-10_833215350/pose.jsonl
ADDED
|
@@ -0,0 +1,144 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-975.1439537192477,
|
| 6 |
+
327.36952452528567,
|
| 7 |
+
94.91218165185344
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 3.141592653589793
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-978.1439537192477,
|
| 19 |
+
327.36952452528567,
|
| 20 |
+
94.91218165185344
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 3.141592653589793
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-981.1439537192477,
|
| 32 |
+
327.36952452528567,
|
| 33 |
+
94.91218165185344
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 3.141592653589793
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-984.1439537192477,
|
| 45 |
+
327.36952452528567,
|
| 46 |
+
94.91218165185344
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 3.141592653589793
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-987.1439537192477,
|
| 58 |
+
327.36952452528567,
|
| 59 |
+
94.91218165185344
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 3.141592653589793
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-990.1439537192477,
|
| 71 |
+
327.36952452528567,
|
| 72 |
+
94.91218165185344
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 3.141592653589793
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-993.1439537192477,
|
| 84 |
+
327.36952452528567,
|
| 85 |
+
94.91218165185344
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 3.141592653589793
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-996.1439537192477,
|
| 97 |
+
327.36952452528567,
|
| 98 |
+
94.91218165185344
|
| 99 |
+
],
|
| 100 |
+
"type": "turn left",
|
| 101 |
+
"value": 30,
|
| 102 |
+
"yaw": 3.141592653589793
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-996.1439537192477,
|
| 110 |
+
327.36952452528567,
|
| 111 |
+
94.91218165185344
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 3.665191429188092
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-998.7420299306011,
|
| 123 |
+
325.86952452528567,
|
| 124 |
+
94.91218165185344
|
| 125 |
+
],
|
| 126 |
+
"type": "stop",
|
| 127 |
+
"value": 0,
|
| 128 |
+
"yaw": 3.665191429188092
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"aim_landmark": {
|
| 133 |
+
"color": "test",
|
| 134 |
+
"feature": "test",
|
| 135 |
+
"position": [
|
| 136 |
+
-1056.0,
|
| 137 |
+
320.0,
|
| 138 |
+
78.26860046386719
|
| 139 |
+
],
|
| 140 |
+
"shape": "test",
|
| 141 |
+
"size": "test",
|
| 142 |
+
"type": "building"
|
| 143 |
+
}
|
| 144 |
+
}
|
Image/env_game_gtav/low_average/2025-1-16_14-57-59_951426815/pose.jsonl
ADDED
|
@@ -0,0 +1,287 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-512.6031443815689,
|
| 6 |
+
-284.5258844809473,
|
| 7 |
+
92.65519559805793
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 0.0
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-509.6031443815689,
|
| 19 |
+
-284.5258844809473,
|
| 20 |
+
92.65519559805793
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 0.0
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-506.6031443815689,
|
| 32 |
+
-284.5258844809473,
|
| 33 |
+
92.65519559805793
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 0.0
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-503.6031443815689,
|
| 45 |
+
-284.5258844809473,
|
| 46 |
+
92.65519559805793
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 0.0
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-500.6031443815689,
|
| 58 |
+
-284.5258844809473,
|
| 59 |
+
92.65519559805793
|
| 60 |
+
],
|
| 61 |
+
"type": "turn left",
|
| 62 |
+
"value": 30,
|
| 63 |
+
"yaw": 0.0
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-500.6031443815689,
|
| 71 |
+
-284.5258844809473,
|
| 72 |
+
92.65519559805793
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 0.5235987755982988
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-498.00506817021557,
|
| 84 |
+
-283.0258844809473,
|
| 85 |
+
92.65519559805793
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 0.5235987755982988
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-495.40699195886225,
|
| 97 |
+
-281.5258844809473,
|
| 98 |
+
92.65519559805793
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 0.5235987755982988
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-492.80891574750893,
|
| 110 |
+
-280.0258844809473,
|
| 111 |
+
92.65519559805793
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 0.5235987755982988
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-490.2108395361556,
|
| 123 |
+
-278.5258844809473,
|
| 124 |
+
92.65519559805793
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 0.5235987755982988
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-487.6127633248023,
|
| 136 |
+
-277.0258844809473,
|
| 137 |
+
92.65519559805793
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 0.5235987755982988
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-485.014687113449,
|
| 149 |
+
-275.5258844809473,
|
| 150 |
+
92.65519559805793
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 0.5235987755982988
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-482.41661090209567,
|
| 162 |
+
-274.0258844809473,
|
| 163 |
+
92.65519559805793
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 0.5235987755982988
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-479.81853469074235,
|
| 175 |
+
-272.5258844809473,
|
| 176 |
+
92.65519559805793
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 0.5235987755982988
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-477.22045847938904,
|
| 188 |
+
-271.0258844809473,
|
| 189 |
+
92.65519559805793
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 0.5235987755982988
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-474.6223822680357,
|
| 201 |
+
-269.5258844809473,
|
| 202 |
+
92.65519559805793
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 0.5235987755982988
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-472.0243060566824,
|
| 214 |
+
-268.0258844809473,
|
| 215 |
+
92.65519559805793
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 0.5235987755982988
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-469.4262298453291,
|
| 227 |
+
-266.5258844809473,
|
| 228 |
+
92.65519559805793
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 0.5235987755982988
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
-466.8281536339758,
|
| 240 |
+
-265.0258844809473,
|
| 241 |
+
92.65519559805793
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 0.5235987755982988
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
-464.23007742262246,
|
| 253 |
+
-263.5258844809473,
|
| 254 |
+
92.65519559805793
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": 0.5235987755982988
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
-461.63200121126914,
|
| 266 |
+
-262.0258844809473,
|
| 267 |
+
92.65519559805793
|
| 268 |
+
],
|
| 269 |
+
"type": "stop",
|
| 270 |
+
"value": 0,
|
| 271 |
+
"yaw": 0.5235987755982988
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"aim_landmark": {
|
| 276 |
+
"color": "test",
|
| 277 |
+
"feature": "test",
|
| 278 |
+
"position": [
|
| 279 |
+
-432.0,
|
| 280 |
+
-252.0,
|
| 281 |
+
76.88024139404297
|
| 282 |
+
],
|
| 283 |
+
"shape": "test",
|
| 284 |
+
"size": "test",
|
| 285 |
+
"type": "building"
|
| 286 |
+
}
|
| 287 |
+
}
|
Image/env_game_gtav/low_average/2025-1-16_15-0-20_2060975266/pose.jsonl
ADDED
|
@@ -0,0 +1,456 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-165.77790921293257,
|
| 6 |
+
699.1600584716326,
|
| 7 |
+
69.31406104659078
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -1.0471975511965883
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-164.27790921293257,
|
| 19 |
+
696.5619822602794,
|
| 20 |
+
69.31406104659078
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -1.0471975511965883
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-162.77790921293257,
|
| 32 |
+
693.963906048926,
|
| 33 |
+
69.31406104659078
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -1.0471975511966072
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-161.27790921293257,
|
| 45 |
+
691.3658298375726,
|
| 46 |
+
69.31406104659078
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -1.0471975511966072
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-159.77790921293257,
|
| 58 |
+
688.7677536262192,
|
| 59 |
+
69.31406104659078
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -1.0471975511966072
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-158.27790921293257,
|
| 71 |
+
686.1696774148659,
|
| 72 |
+
69.31406104659078
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -1.0471975511966072
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-156.77790921293257,
|
| 84 |
+
683.5716012035125,
|
| 85 |
+
69.31406104659078
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -1.0471975511966072
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-155.27790921293257,
|
| 97 |
+
680.9735249921591,
|
| 98 |
+
69.31406104659078
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -1.0471975511966072
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-153.77790921293257,
|
| 110 |
+
678.3754487808058,
|
| 111 |
+
69.31406104659078
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -1.0471975511966072
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-152.27790921293257,
|
| 123 |
+
675.7773725694524,
|
| 124 |
+
69.31406104659078
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -1.0471975511966072
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-150.77790921293257,
|
| 136 |
+
673.179296358099,
|
| 137 |
+
69.31406104659078
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -1.0471975511966072
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-149.27790921293257,
|
| 149 |
+
670.5812201467456,
|
| 150 |
+
69.31406104659078
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -1.0471975511966072
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-147.77790921293257,
|
| 162 |
+
667.9831439353923,
|
| 163 |
+
69.31406104659078
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -1.0471975511966072
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-146.27790921293257,
|
| 175 |
+
665.3850677240389,
|
| 176 |
+
69.31406104659078
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -1.0471975511966072
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-144.77790921293257,
|
| 188 |
+
662.7869915126855,
|
| 189 |
+
69.31406104659078
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -1.0471975511966072
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-143.27790921293257,
|
| 201 |
+
660.1889153013321,
|
| 202 |
+
69.31406104659078
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -1.0471975511966072
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-141.77790921293257,
|
| 214 |
+
657.5908390899788,
|
| 215 |
+
69.31406104659078
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -1.0471975511966072
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-140.27790921293257,
|
| 227 |
+
654.9927628786254,
|
| 228 |
+
69.31406104659078
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": -1.0471975511966072
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
-138.77790921293257,
|
| 240 |
+
652.394686667272,
|
| 241 |
+
69.31406104659078
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": -1.0471975511966072
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
-137.27790921293257,
|
| 253 |
+
649.7966104559187,
|
| 254 |
+
69.31406104659078
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": -1.0471975511966072
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
-135.77790921293257,
|
| 266 |
+
647.1985342445653,
|
| 267 |
+
69.31406104659078
|
| 268 |
+
],
|
| 269 |
+
"type": "turn left",
|
| 270 |
+
"value": 30,
|
| 271 |
+
"yaw": -1.0471975511966072
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
-135.77790921293257,
|
| 279 |
+
647.1985342445653,
|
| 280 |
+
69.31406104659078
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": -0.5235987755983084
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
-133.17983300157925,
|
| 292 |
+
645.6985342445653,
|
| 293 |
+
69.31406104659078
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": -0.5235987755982988
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
-130.58175679022594,
|
| 305 |
+
644.1985342445653,
|
| 306 |
+
69.31406104659078
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": -0.5235987755982988
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
-127.98368057887262,
|
| 318 |
+
642.6985342445653,
|
| 319 |
+
69.31406104659078
|
| 320 |
+
],
|
| 321 |
+
"type": "go straight",
|
| 322 |
+
"value": 3,
|
| 323 |
+
"yaw": -0.5235987755982988
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"action": {
|
| 328 |
+
"imageid": 25,
|
| 329 |
+
"pos": [
|
| 330 |
+
-125.3856043675193,
|
| 331 |
+
641.1985342445653,
|
| 332 |
+
69.31406104659078
|
| 333 |
+
],
|
| 334 |
+
"type": "go straight",
|
| 335 |
+
"value": 3,
|
| 336 |
+
"yaw": -0.5235987755982988
|
| 337 |
+
}
|
| 338 |
+
}
|
| 339 |
+
{
|
| 340 |
+
"action": {
|
| 341 |
+
"imageid": 26,
|
| 342 |
+
"pos": [
|
| 343 |
+
-122.78752815616599,
|
| 344 |
+
639.6985342445653,
|
| 345 |
+
69.31406104659078
|
| 346 |
+
],
|
| 347 |
+
"type": "go straight",
|
| 348 |
+
"value": 3,
|
| 349 |
+
"yaw": -0.5235987755982988
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
{
|
| 353 |
+
"action": {
|
| 354 |
+
"imageid": 27,
|
| 355 |
+
"pos": [
|
| 356 |
+
-120.18945194481267,
|
| 357 |
+
638.1985342445653,
|
| 358 |
+
69.31406104659078
|
| 359 |
+
],
|
| 360 |
+
"type": "go straight",
|
| 361 |
+
"value": 3,
|
| 362 |
+
"yaw": -0.5235987755982988
|
| 363 |
+
}
|
| 364 |
+
}
|
| 365 |
+
{
|
| 366 |
+
"action": {
|
| 367 |
+
"imageid": 28,
|
| 368 |
+
"pos": [
|
| 369 |
+
-117.59137573345936,
|
| 370 |
+
636.6985342445653,
|
| 371 |
+
69.31406104659078
|
| 372 |
+
],
|
| 373 |
+
"type": "go straight",
|
| 374 |
+
"value": 3,
|
| 375 |
+
"yaw": -0.5235987755982988
|
| 376 |
+
}
|
| 377 |
+
}
|
| 378 |
+
{
|
| 379 |
+
"action": {
|
| 380 |
+
"imageid": 29,
|
| 381 |
+
"pos": [
|
| 382 |
+
-114.99329952210604,
|
| 383 |
+
635.1985342445653,
|
| 384 |
+
69.31406104659078
|
| 385 |
+
],
|
| 386 |
+
"type": "go straight",
|
| 387 |
+
"value": 3,
|
| 388 |
+
"yaw": -0.5235987755982988
|
| 389 |
+
}
|
| 390 |
+
}
|
| 391 |
+
{
|
| 392 |
+
"action": {
|
| 393 |
+
"imageid": 30,
|
| 394 |
+
"pos": [
|
| 395 |
+
-112.39522331075273,
|
| 396 |
+
633.6985342445653,
|
| 397 |
+
69.31406104659078
|
| 398 |
+
],
|
| 399 |
+
"type": "go straight",
|
| 400 |
+
"value": 3,
|
| 401 |
+
"yaw": -0.5235987755982988
|
| 402 |
+
}
|
| 403 |
+
}
|
| 404 |
+
{
|
| 405 |
+
"action": {
|
| 406 |
+
"imageid": 31,
|
| 407 |
+
"pos": [
|
| 408 |
+
-109.79714709939941,
|
| 409 |
+
632.1985342445653,
|
| 410 |
+
69.31406104659078
|
| 411 |
+
],
|
| 412 |
+
"type": "go straight",
|
| 413 |
+
"value": 3,
|
| 414 |
+
"yaw": -0.5235987755982988
|
| 415 |
+
}
|
| 416 |
+
}
|
| 417 |
+
{
|
| 418 |
+
"action": {
|
| 419 |
+
"imageid": 32,
|
| 420 |
+
"pos": [
|
| 421 |
+
-107.1990708880461,
|
| 422 |
+
630.6985342445653,
|
| 423 |
+
69.31406104659078
|
| 424 |
+
],
|
| 425 |
+
"type": "go straight",
|
| 426 |
+
"value": 3,
|
| 427 |
+
"yaw": -0.5235987755982988
|
| 428 |
+
}
|
| 429 |
+
}
|
| 430 |
+
{
|
| 431 |
+
"action": {
|
| 432 |
+
"imageid": 33,
|
| 433 |
+
"pos": [
|
| 434 |
+
-104.60099467669278,
|
| 435 |
+
629.1985342445653,
|
| 436 |
+
69.31406104659078
|
| 437 |
+
],
|
| 438 |
+
"type": "stop",
|
| 439 |
+
"value": 0,
|
| 440 |
+
"yaw": -0.5235987755982988
|
| 441 |
+
}
|
| 442 |
+
}
|
| 443 |
+
{
|
| 444 |
+
"aim_landmark": {
|
| 445 |
+
"color": "test",
|
| 446 |
+
"feature": "test",
|
| 447 |
+
"position": [
|
| 448 |
+
-92.0,
|
| 449 |
+
612.0,
|
| 450 |
+
58.404842376708984
|
| 451 |
+
],
|
| 452 |
+
"shape": "test",
|
| 453 |
+
"size": "test",
|
| 454 |
+
"type": "building"
|
| 455 |
+
}
|
| 456 |
+
}
|
Image/env_gs_nwpu02/astar_data/long/2025-1-16_13-54-27_1681692777/pose.jsonl
ADDED
|
@@ -0,0 +1,535 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
1506.2176866101004,
|
| 6 |
+
-66.75497683587102,
|
| 7 |
+
-1.2025686053455633
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -0.5235987755982894
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
1508.8157628214537,
|
| 19 |
+
-68.25497683587102,
|
| 20 |
+
-1.2025686053455633
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -0.5235987755982894
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
1511.4138390328071,
|
| 32 |
+
-69.75497683587102,
|
| 33 |
+
-1.2025686053455633
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -0.5235987755982894
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
1514.0119152441605,
|
| 45 |
+
-71.25497683587102,
|
| 46 |
+
-1.2025686053455633
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -0.5235987755982894
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
1516.6099914555139,
|
| 58 |
+
-72.75497683587102,
|
| 59 |
+
-1.2025686053455633
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -0.5235987755982894
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
1519.2080676668672,
|
| 71 |
+
-74.25497683587102,
|
| 72 |
+
-1.2025686053455633
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -0.5235987755982894
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
1521.8061438782206,
|
| 84 |
+
-75.75497683587102,
|
| 85 |
+
-1.2025686053455633
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -0.5235987755982894
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
1524.404220089574,
|
| 97 |
+
-77.25497683587102,
|
| 98 |
+
-1.2025686053455633
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -0.5235987755982894
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
1527.0022963009274,
|
| 110 |
+
-78.75497683587102,
|
| 111 |
+
-1.2025686053455633
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -0.5235987755982894
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
1529.6003725122807,
|
| 123 |
+
-80.25497683587102,
|
| 124 |
+
-1.2025686053455633
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -0.5235987755982894
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
1532.198448723634,
|
| 136 |
+
-81.75497683587102,
|
| 137 |
+
-1.2025686053455633
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -0.5235987755982894
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
1534.7965249349875,
|
| 149 |
+
-83.25497683587102,
|
| 150 |
+
-1.2025686053455633
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -0.5235987755982894
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
1537.3946011463408,
|
| 162 |
+
-84.75497683587102,
|
| 163 |
+
-1.2025686053455633
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -0.5235987755982894
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
1539.9926773576942,
|
| 175 |
+
-86.25497683587102,
|
| 176 |
+
-1.2025686053455633
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -0.5235987755982894
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
1542.5907535690476,
|
| 188 |
+
-87.75497683587102,
|
| 189 |
+
-1.2025686053455633
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -0.5235987755982894
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
1545.188829780401,
|
| 201 |
+
-89.25497683587102,
|
| 202 |
+
-1.2025686053455633
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -0.5235987755982894
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
1547.7869059917543,
|
| 214 |
+
-90.75497683587102,
|
| 215 |
+
-1.2025686053455633
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -0.5235987755982894
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
1550.3849822031077,
|
| 227 |
+
-92.25497683587102,
|
| 228 |
+
-1.2025686053455633
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": -0.5235987755982894
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
1552.983058414461,
|
| 240 |
+
-93.75497683587102,
|
| 241 |
+
-1.2025686053455633
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": -0.5235987755982894
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"aim_landmark": {
|
| 250 |
+
"color": "test",
|
| 251 |
+
"feature": "test",
|
| 252 |
+
"position": [
|
| 253 |
+
1559.5110931396484,
|
| 254 |
+
-96.07600393295289,
|
| 255 |
+
0.0
|
| 256 |
+
],
|
| 257 |
+
"shape": "test",
|
| 258 |
+
"size": "test",
|
| 259 |
+
"type": "building"
|
| 260 |
+
}
|
| 261 |
+
}
|
| 262 |
+
{
|
| 263 |
+
"action": {
|
| 264 |
+
"imageid": 20,
|
| 265 |
+
"pos": [
|
| 266 |
+
1555.5811346258145,
|
| 267 |
+
-95.25497683587102,
|
| 268 |
+
-1.2025686053455633
|
| 269 |
+
],
|
| 270 |
+
"type": "turn left",
|
| 271 |
+
"value": 30,
|
| 272 |
+
"yaw": -0.5235987755982894
|
| 273 |
+
}
|
| 274 |
+
}
|
| 275 |
+
{
|
| 276 |
+
"action": {
|
| 277 |
+
"imageid": 21,
|
| 278 |
+
"pos": [
|
| 279 |
+
1555.5811346258145,
|
| 280 |
+
-95.25497683587102,
|
| 281 |
+
-1.2025686053455633
|
| 282 |
+
],
|
| 283 |
+
"type": "turn left",
|
| 284 |
+
"value": 30,
|
| 285 |
+
"yaw": 9.43689570931383e-15
|
| 286 |
+
}
|
| 287 |
+
}
|
| 288 |
+
{
|
| 289 |
+
"action": {
|
| 290 |
+
"imageid": 22,
|
| 291 |
+
"pos": [
|
| 292 |
+
1555.5811346258145,
|
| 293 |
+
-95.25497683587102,
|
| 294 |
+
-1.2025686053455633
|
| 295 |
+
],
|
| 296 |
+
"type": "turn left",
|
| 297 |
+
"value": 30,
|
| 298 |
+
"yaw": 0.5235987755983083
|
| 299 |
+
}
|
| 300 |
+
}
|
| 301 |
+
{
|
| 302 |
+
"action": {
|
| 303 |
+
"imageid": 23,
|
| 304 |
+
"pos": [
|
| 305 |
+
1555.5811346258145,
|
| 306 |
+
-95.25497683587102,
|
| 307 |
+
-1.2025686053455633
|
| 308 |
+
],
|
| 309 |
+
"type": "turn left",
|
| 310 |
+
"value": 30,
|
| 311 |
+
"yaw": 1.0471975511966072
|
| 312 |
+
}
|
| 313 |
+
}
|
| 314 |
+
{
|
| 315 |
+
"action": {
|
| 316 |
+
"imageid": 24,
|
| 317 |
+
"pos": [
|
| 318 |
+
1555.5811346258145,
|
| 319 |
+
-95.25497683587102,
|
| 320 |
+
-1.2025686053455633
|
| 321 |
+
],
|
| 322 |
+
"type": "turn left",
|
| 323 |
+
"value": 30,
|
| 324 |
+
"yaw": 1.5707963267949059
|
| 325 |
+
}
|
| 326 |
+
}
|
| 327 |
+
{
|
| 328 |
+
"action": {
|
| 329 |
+
"imageid": 25,
|
| 330 |
+
"pos": [
|
| 331 |
+
1555.5811346258145,
|
| 332 |
+
-95.25497683587102,
|
| 333 |
+
-1.2025686053455633
|
| 334 |
+
],
|
| 335 |
+
"type": "go straight",
|
| 336 |
+
"value": 3,
|
| 337 |
+
"yaw": 2.0943951023931953
|
| 338 |
+
}
|
| 339 |
+
}
|
| 340 |
+
{
|
| 341 |
+
"action": {
|
| 342 |
+
"imageid": 26,
|
| 343 |
+
"pos": [
|
| 344 |
+
1554.0811346258145,
|
| 345 |
+
-92.6569006245177,
|
| 346 |
+
-1.2025686053455633
|
| 347 |
+
],
|
| 348 |
+
"type": "go straight",
|
| 349 |
+
"value": 3,
|
| 350 |
+
"yaw": 2.0943951023931953
|
| 351 |
+
}
|
| 352 |
+
}
|
| 353 |
+
{
|
| 354 |
+
"action": {
|
| 355 |
+
"imageid": 27,
|
| 356 |
+
"pos": [
|
| 357 |
+
1552.5811346258145,
|
| 358 |
+
-90.05882441316439,
|
| 359 |
+
-1.2025686053455633
|
| 360 |
+
],
|
| 361 |
+
"type": "go straight",
|
| 362 |
+
"value": 3,
|
| 363 |
+
"yaw": 2.0943951023931953
|
| 364 |
+
}
|
| 365 |
+
}
|
| 366 |
+
{
|
| 367 |
+
"action": {
|
| 368 |
+
"imageid": 28,
|
| 369 |
+
"pos": [
|
| 370 |
+
1551.0811346258145,
|
| 371 |
+
-87.46074820181107,
|
| 372 |
+
-1.2025686053455633
|
| 373 |
+
],
|
| 374 |
+
"type": "go straight",
|
| 375 |
+
"value": 3,
|
| 376 |
+
"yaw": 2.0943951023931953
|
| 377 |
+
}
|
| 378 |
+
}
|
| 379 |
+
{
|
| 380 |
+
"action": {
|
| 381 |
+
"imageid": 29,
|
| 382 |
+
"pos": [
|
| 383 |
+
1549.5811346258145,
|
| 384 |
+
-84.86267199045776,
|
| 385 |
+
-1.2025686053455633
|
| 386 |
+
],
|
| 387 |
+
"type": "go straight",
|
| 388 |
+
"value": 3,
|
| 389 |
+
"yaw": 2.0943951023931953
|
| 390 |
+
}
|
| 391 |
+
}
|
| 392 |
+
{
|
| 393 |
+
"action": {
|
| 394 |
+
"imageid": 30,
|
| 395 |
+
"pos": [
|
| 396 |
+
1548.0811346258145,
|
| 397 |
+
-82.26459577910444,
|
| 398 |
+
-1.2025686053455633
|
| 399 |
+
],
|
| 400 |
+
"type": "go straight",
|
| 401 |
+
"value": 3,
|
| 402 |
+
"yaw": 2.0943951023931953
|
| 403 |
+
}
|
| 404 |
+
}
|
| 405 |
+
{
|
| 406 |
+
"action": {
|
| 407 |
+
"imageid": 31,
|
| 408 |
+
"pos": [
|
| 409 |
+
1546.5811346258145,
|
| 410 |
+
-79.66651956775112,
|
| 411 |
+
-1.2025686053455633
|
| 412 |
+
],
|
| 413 |
+
"type": "go straight",
|
| 414 |
+
"value": 3,
|
| 415 |
+
"yaw": 2.0943951023931953
|
| 416 |
+
}
|
| 417 |
+
}
|
| 418 |
+
{
|
| 419 |
+
"action": {
|
| 420 |
+
"imageid": 32,
|
| 421 |
+
"pos": [
|
| 422 |
+
1545.0811346258145,
|
| 423 |
+
-77.06844335639781,
|
| 424 |
+
-1.2025686053455633
|
| 425 |
+
],
|
| 426 |
+
"type": "go straight",
|
| 427 |
+
"value": 3,
|
| 428 |
+
"yaw": 2.0943951023931953
|
| 429 |
+
}
|
| 430 |
+
}
|
| 431 |
+
{
|
| 432 |
+
"action": {
|
| 433 |
+
"imageid": 33,
|
| 434 |
+
"pos": [
|
| 435 |
+
1543.5811346258145,
|
| 436 |
+
-74.47036714504449,
|
| 437 |
+
-1.2025686053455633
|
| 438 |
+
],
|
| 439 |
+
"type": "go straight",
|
| 440 |
+
"value": 3,
|
| 441 |
+
"yaw": 2.0943951023931953
|
| 442 |
+
}
|
| 443 |
+
}
|
| 444 |
+
{
|
| 445 |
+
"action": {
|
| 446 |
+
"imageid": 34,
|
| 447 |
+
"pos": [
|
| 448 |
+
1542.0811346258145,
|
| 449 |
+
-71.87229093369118,
|
| 450 |
+
-1.2025686053455633
|
| 451 |
+
],
|
| 452 |
+
"type": "go straight",
|
| 453 |
+
"value": 3,
|
| 454 |
+
"yaw": 2.0943951023931953
|
| 455 |
+
}
|
| 456 |
+
}
|
| 457 |
+
{
|
| 458 |
+
"action": {
|
| 459 |
+
"imageid": 35,
|
| 460 |
+
"pos": [
|
| 461 |
+
1540.5811346258145,
|
| 462 |
+
-69.27421472233786,
|
| 463 |
+
-1.2025686053455633
|
| 464 |
+
],
|
| 465 |
+
"type": "go straight",
|
| 466 |
+
"value": 3,
|
| 467 |
+
"yaw": 2.0943951023931953
|
| 468 |
+
}
|
| 469 |
+
}
|
| 470 |
+
{
|
| 471 |
+
"action": {
|
| 472 |
+
"imageid": 36,
|
| 473 |
+
"pos": [
|
| 474 |
+
1539.0811346258145,
|
| 475 |
+
-66.67613851098454,
|
| 476 |
+
-1.2025686053455633
|
| 477 |
+
],
|
| 478 |
+
"type": "go straight",
|
| 479 |
+
"value": 3,
|
| 480 |
+
"yaw": 2.0943951023931953
|
| 481 |
+
}
|
| 482 |
+
}
|
| 483 |
+
{
|
| 484 |
+
"action": {
|
| 485 |
+
"imageid": 37,
|
| 486 |
+
"pos": [
|
| 487 |
+
1537.5811346258145,
|
| 488 |
+
-64.07806229963123,
|
| 489 |
+
-1.2025686053455633
|
| 490 |
+
],
|
| 491 |
+
"type": "go straight",
|
| 492 |
+
"value": 3,
|
| 493 |
+
"yaw": 2.0943951023931953
|
| 494 |
+
}
|
| 495 |
+
}
|
| 496 |
+
{
|
| 497 |
+
"action": {
|
| 498 |
+
"imageid": 38,
|
| 499 |
+
"pos": [
|
| 500 |
+
1536.0811346258145,
|
| 501 |
+
-61.47998608827791,
|
| 502 |
+
-1.2025686053455633
|
| 503 |
+
],
|
| 504 |
+
"type": "go straight",
|
| 505 |
+
"value": 3,
|
| 506 |
+
"yaw": 2.0943951023931953
|
| 507 |
+
}
|
| 508 |
+
}
|
| 509 |
+
{
|
| 510 |
+
"action": {
|
| 511 |
+
"imageid": 39,
|
| 512 |
+
"pos": [
|
| 513 |
+
1534.5811346258145,
|
| 514 |
+
-58.881909876924595,
|
| 515 |
+
-1.2025686053455633
|
| 516 |
+
],
|
| 517 |
+
"type": "stop",
|
| 518 |
+
"value": 0,
|
| 519 |
+
"yaw": 2.0943951023931953
|
| 520 |
+
}
|
| 521 |
+
}
|
| 522 |
+
{
|
| 523 |
+
"aim_landmark": {
|
| 524 |
+
"color": "test",
|
| 525 |
+
"feature": "test",
|
| 526 |
+
"position": [
|
| 527 |
+
1520.3544021606447,
|
| 528 |
+
-28.02864229679108,
|
| 529 |
+
0.0
|
| 530 |
+
],
|
| 531 |
+
"shape": "test",
|
| 532 |
+
"size": "test",
|
| 533 |
+
"type": "building"
|
| 534 |
+
}
|
| 535 |
+
}
|
Image/env_gs_nwpu02/astar_data/long/2025-1-16_13-54-52_1714636915/pose.jsonl
ADDED
|
@@ -0,0 +1,626 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
707.4622256347191,
|
| 6 |
+
-425.1877052330593,
|
| 7 |
+
-1.9087129226855506
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 0.0
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
710.4622256347191,
|
| 19 |
+
-425.1877052330593,
|
| 20 |
+
-1.9087129226855506
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 0.0
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
713.4622256347191,
|
| 32 |
+
-425.1877052330593,
|
| 33 |
+
-1.9087129226855506
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 0.0
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
716.4622256347191,
|
| 45 |
+
-425.1877052330593,
|
| 46 |
+
-1.9087129226855506
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 0.0
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
719.4622256347191,
|
| 58 |
+
-425.1877052330593,
|
| 59 |
+
-1.9087129226855506
|
| 60 |
+
],
|
| 61 |
+
"type": "turn right",
|
| 62 |
+
"value": 30,
|
| 63 |
+
"yaw": 0.0
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
719.4622256347191,
|
| 71 |
+
-425.1877052330593,
|
| 72 |
+
-1.9087129226855506
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -0.5235987755982988
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
722.0603018460724,
|
| 84 |
+
-426.6877052330593,
|
| 85 |
+
-1.9087129226855506
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -0.5235987755982894
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
724.6583780574258,
|
| 97 |
+
-428.1877052330593,
|
| 98 |
+
-1.9087129226855506
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -0.5235987755982894
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
727.2564542687792,
|
| 110 |
+
-429.6877052330593,
|
| 111 |
+
-1.9087129226855506
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -0.5235987755982894
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
729.8545304801326,
|
| 123 |
+
-431.1877052330593,
|
| 124 |
+
-1.9087129226855506
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -0.5235987755982894
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
732.4526066914859,
|
| 136 |
+
-432.6877052330593,
|
| 137 |
+
-1.9087129226855506
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -0.5235987755982894
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
735.0506829028393,
|
| 149 |
+
-434.1877052330593,
|
| 150 |
+
-1.9087129226855506
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -0.5235987755982894
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
737.6487591141927,
|
| 162 |
+
-435.6877052330593,
|
| 163 |
+
-1.9087129226855506
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -0.5235987755982894
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
740.246835325546,
|
| 175 |
+
-437.1877052330593,
|
| 176 |
+
-1.9087129226855506
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -0.5235987755982894
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
742.8449115368994,
|
| 188 |
+
-438.6877052330593,
|
| 189 |
+
-1.9087129226855506
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -0.5235987755982894
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
745.4429877482528,
|
| 201 |
+
-440.1877052330593,
|
| 202 |
+
-1.9087129226855506
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -0.5235987755982894
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
748.0410639596062,
|
| 214 |
+
-441.6877052330593,
|
| 215 |
+
-1.9087129226855506
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -0.5235987755982894
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
750.6391401709595,
|
| 227 |
+
-443.1877052330593,
|
| 228 |
+
-1.9087129226855506
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": -0.5235987755982894
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
753.2372163823129,
|
| 240 |
+
-444.6877052330593,
|
| 241 |
+
-1.9087129226855506
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": -0.5235987755982894
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
755.8352925936663,
|
| 253 |
+
-446.1877052330593,
|
| 254 |
+
-1.9087129226855506
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": -0.5235987755982894
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
758.4333688050197,
|
| 266 |
+
-447.6877052330593,
|
| 267 |
+
-1.9087129226855506
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": -0.5235987755982894
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
761.031445016373,
|
| 279 |
+
-449.1877052330593,
|
| 280 |
+
-1.9087129226855506
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": -0.5235987755982894
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
763.6295212277264,
|
| 292 |
+
-450.6877052330593,
|
| 293 |
+
-1.9087129226855506
|
| 294 |
+
],
|
| 295 |
+
"type": "turn left",
|
| 296 |
+
"value": 30,
|
| 297 |
+
"yaw": -0.5235987755982894
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
763.6295212277264,
|
| 305 |
+
-450.6877052330593,
|
| 306 |
+
-1.9087129226855506
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": 9.43689570931383e-15
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"aim_landmark": {
|
| 315 |
+
"color": "test",
|
| 316 |
+
"feature": "test",
|
| 317 |
+
"position": [
|
| 318 |
+
770.3367736816407,
|
| 319 |
+
-451.65129089355474,
|
| 320 |
+
0.0
|
| 321 |
+
],
|
| 322 |
+
"shape": "test",
|
| 323 |
+
"size": "test",
|
| 324 |
+
"type": "building"
|
| 325 |
+
}
|
| 326 |
+
}
|
| 327 |
+
{
|
| 328 |
+
"action": {
|
| 329 |
+
"imageid": 25,
|
| 330 |
+
"pos": [
|
| 331 |
+
766.6295212277264,
|
| 332 |
+
-450.6877052330593,
|
| 333 |
+
-1.9087129226855506
|
| 334 |
+
],
|
| 335 |
+
"type": "go straight",
|
| 336 |
+
"value": 3,
|
| 337 |
+
"yaw": 0.0
|
| 338 |
+
}
|
| 339 |
+
}
|
| 340 |
+
{
|
| 341 |
+
"action": {
|
| 342 |
+
"imageid": 26,
|
| 343 |
+
"pos": [
|
| 344 |
+
769.6295212277264,
|
| 345 |
+
-450.6877052330593,
|
| 346 |
+
-1.9087129226855506
|
| 347 |
+
],
|
| 348 |
+
"type": "go straight",
|
| 349 |
+
"value": 3,
|
| 350 |
+
"yaw": 0.0
|
| 351 |
+
}
|
| 352 |
+
}
|
| 353 |
+
{
|
| 354 |
+
"action": {
|
| 355 |
+
"imageid": 27,
|
| 356 |
+
"pos": [
|
| 357 |
+
772.6295212277264,
|
| 358 |
+
-450.6877052330593,
|
| 359 |
+
-1.9087129226855506
|
| 360 |
+
],
|
| 361 |
+
"type": "go straight",
|
| 362 |
+
"value": 3,
|
| 363 |
+
"yaw": 0.0
|
| 364 |
+
}
|
| 365 |
+
}
|
| 366 |
+
{
|
| 367 |
+
"action": {
|
| 368 |
+
"imageid": 28,
|
| 369 |
+
"pos": [
|
| 370 |
+
775.6295212277264,
|
| 371 |
+
-450.6877052330593,
|
| 372 |
+
-1.9087129226855506
|
| 373 |
+
],
|
| 374 |
+
"type": "turn left",
|
| 375 |
+
"value": 30,
|
| 376 |
+
"yaw": 0.0
|
| 377 |
+
}
|
| 378 |
+
}
|
| 379 |
+
{
|
| 380 |
+
"action": {
|
| 381 |
+
"imageid": 29,
|
| 382 |
+
"pos": [
|
| 383 |
+
775.6295212277264,
|
| 384 |
+
-450.6877052330593,
|
| 385 |
+
-1.9087129226855506
|
| 386 |
+
],
|
| 387 |
+
"type": "go straight",
|
| 388 |
+
"value": 3,
|
| 389 |
+
"yaw": 0.5235987755982988
|
| 390 |
+
}
|
| 391 |
+
}
|
| 392 |
+
{
|
| 393 |
+
"action": {
|
| 394 |
+
"imageid": 30,
|
| 395 |
+
"pos": [
|
| 396 |
+
778.2275974390798,
|
| 397 |
+
-449.1877052330593,
|
| 398 |
+
-1.9087129226855506
|
| 399 |
+
],
|
| 400 |
+
"type": "go straight",
|
| 401 |
+
"value": 3,
|
| 402 |
+
"yaw": 0.5235987755982894
|
| 403 |
+
}
|
| 404 |
+
}
|
| 405 |
+
{
|
| 406 |
+
"action": {
|
| 407 |
+
"imageid": 31,
|
| 408 |
+
"pos": [
|
| 409 |
+
780.8256736504331,
|
| 410 |
+
-447.6877052330593,
|
| 411 |
+
-1.9087129226855506
|
| 412 |
+
],
|
| 413 |
+
"type": "go straight",
|
| 414 |
+
"value": 3,
|
| 415 |
+
"yaw": 0.5235987755982894
|
| 416 |
+
}
|
| 417 |
+
}
|
| 418 |
+
{
|
| 419 |
+
"action": {
|
| 420 |
+
"imageid": 32,
|
| 421 |
+
"pos": [
|
| 422 |
+
783.4237498617865,
|
| 423 |
+
-446.1877052330593,
|
| 424 |
+
-1.9087129226855506
|
| 425 |
+
],
|
| 426 |
+
"type": "go straight",
|
| 427 |
+
"value": 3,
|
| 428 |
+
"yaw": 0.5235987755982894
|
| 429 |
+
}
|
| 430 |
+
}
|
| 431 |
+
{
|
| 432 |
+
"action": {
|
| 433 |
+
"imageid": 33,
|
| 434 |
+
"pos": [
|
| 435 |
+
786.0218260731399,
|
| 436 |
+
-444.6877052330593,
|
| 437 |
+
-1.9087129226855506
|
| 438 |
+
],
|
| 439 |
+
"type": "go straight",
|
| 440 |
+
"value": 3,
|
| 441 |
+
"yaw": 0.5235987755982894
|
| 442 |
+
}
|
| 443 |
+
}
|
| 444 |
+
{
|
| 445 |
+
"action": {
|
| 446 |
+
"imageid": 34,
|
| 447 |
+
"pos": [
|
| 448 |
+
788.6199022844933,
|
| 449 |
+
-443.1877052330593,
|
| 450 |
+
-1.9087129226855506
|
| 451 |
+
],
|
| 452 |
+
"type": "go straight",
|
| 453 |
+
"value": 3,
|
| 454 |
+
"yaw": 0.5235987755982894
|
| 455 |
+
}
|
| 456 |
+
}
|
| 457 |
+
{
|
| 458 |
+
"action": {
|
| 459 |
+
"imageid": 35,
|
| 460 |
+
"pos": [
|
| 461 |
+
791.2179784958466,
|
| 462 |
+
-441.6877052330593,
|
| 463 |
+
-1.9087129226855506
|
| 464 |
+
],
|
| 465 |
+
"type": "go straight",
|
| 466 |
+
"value": 3,
|
| 467 |
+
"yaw": 0.5235987755982894
|
| 468 |
+
}
|
| 469 |
+
}
|
| 470 |
+
{
|
| 471 |
+
"action": {
|
| 472 |
+
"imageid": 36,
|
| 473 |
+
"pos": [
|
| 474 |
+
793.8160547072,
|
| 475 |
+
-440.1877052330593,
|
| 476 |
+
-1.9087129226855506
|
| 477 |
+
],
|
| 478 |
+
"type": "go straight",
|
| 479 |
+
"value": 3,
|
| 480 |
+
"yaw": 0.5235987755982894
|
| 481 |
+
}
|
| 482 |
+
}
|
| 483 |
+
{
|
| 484 |
+
"action": {
|
| 485 |
+
"imageid": 37,
|
| 486 |
+
"pos": [
|
| 487 |
+
796.4141309185534,
|
| 488 |
+
-438.6877052330593,
|
| 489 |
+
-1.9087129226855506
|
| 490 |
+
],
|
| 491 |
+
"type": "go straight",
|
| 492 |
+
"value": 3,
|
| 493 |
+
"yaw": 0.5235987755982894
|
| 494 |
+
}
|
| 495 |
+
}
|
| 496 |
+
{
|
| 497 |
+
"action": {
|
| 498 |
+
"imageid": 38,
|
| 499 |
+
"pos": [
|
| 500 |
+
799.0122071299068,
|
| 501 |
+
-437.1877052330593,
|
| 502 |
+
-1.9087129226855506
|
| 503 |
+
],
|
| 504 |
+
"type": "go straight",
|
| 505 |
+
"value": 3,
|
| 506 |
+
"yaw": 0.5235987755982894
|
| 507 |
+
}
|
| 508 |
+
}
|
| 509 |
+
{
|
| 510 |
+
"action": {
|
| 511 |
+
"imageid": 39,
|
| 512 |
+
"pos": [
|
| 513 |
+
801.6102833412601,
|
| 514 |
+
-435.6877052330593,
|
| 515 |
+
-1.9087129226855506
|
| 516 |
+
],
|
| 517 |
+
"type": "go straight",
|
| 518 |
+
"value": 3,
|
| 519 |
+
"yaw": 0.5235987755982894
|
| 520 |
+
}
|
| 521 |
+
}
|
| 522 |
+
{
|
| 523 |
+
"action": {
|
| 524 |
+
"imageid": 40,
|
| 525 |
+
"pos": [
|
| 526 |
+
804.2083595526135,
|
| 527 |
+
-434.1877052330593,
|
| 528 |
+
-1.9087129226855506
|
| 529 |
+
],
|
| 530 |
+
"type": "go straight",
|
| 531 |
+
"value": 3,
|
| 532 |
+
"yaw": 0.5235987755982894
|
| 533 |
+
}
|
| 534 |
+
}
|
| 535 |
+
{
|
| 536 |
+
"action": {
|
| 537 |
+
"imageid": 41,
|
| 538 |
+
"pos": [
|
| 539 |
+
806.8064357639669,
|
| 540 |
+
-432.6877052330593,
|
| 541 |
+
-1.9087129226855506
|
| 542 |
+
],
|
| 543 |
+
"type": "go straight",
|
| 544 |
+
"value": 3,
|
| 545 |
+
"yaw": 0.5235987755982894
|
| 546 |
+
}
|
| 547 |
+
}
|
| 548 |
+
{
|
| 549 |
+
"action": {
|
| 550 |
+
"imageid": 42,
|
| 551 |
+
"pos": [
|
| 552 |
+
809.4045119753202,
|
| 553 |
+
-431.1877052330593,
|
| 554 |
+
-1.9087129226855506
|
| 555 |
+
],
|
| 556 |
+
"type": "go straight",
|
| 557 |
+
"value": 3,
|
| 558 |
+
"yaw": 0.5235987755982894
|
| 559 |
+
}
|
| 560 |
+
}
|
| 561 |
+
{
|
| 562 |
+
"action": {
|
| 563 |
+
"imageid": 43,
|
| 564 |
+
"pos": [
|
| 565 |
+
812.0025881866736,
|
| 566 |
+
-429.6877052330593,
|
| 567 |
+
-1.9087129226855506
|
| 568 |
+
],
|
| 569 |
+
"type": "go straight",
|
| 570 |
+
"value": 3,
|
| 571 |
+
"yaw": 0.5235987755982894
|
| 572 |
+
}
|
| 573 |
+
}
|
| 574 |
+
{
|
| 575 |
+
"action": {
|
| 576 |
+
"imageid": 44,
|
| 577 |
+
"pos": [
|
| 578 |
+
814.600664398027,
|
| 579 |
+
-428.1877052330593,
|
| 580 |
+
-1.9087129226855506
|
| 581 |
+
],
|
| 582 |
+
"type": "go straight",
|
| 583 |
+
"value": 3,
|
| 584 |
+
"yaw": 0.5235987755982894
|
| 585 |
+
}
|
| 586 |
+
}
|
| 587 |
+
{
|
| 588 |
+
"action": {
|
| 589 |
+
"imageid": 45,
|
| 590 |
+
"pos": [
|
| 591 |
+
817.1987406093804,
|
| 592 |
+
-426.6877052330593,
|
| 593 |
+
-1.9087129226855506
|
| 594 |
+
],
|
| 595 |
+
"type": "go straight",
|
| 596 |
+
"value": 3,
|
| 597 |
+
"yaw": 0.5235987755982894
|
| 598 |
+
}
|
| 599 |
+
}
|
| 600 |
+
{
|
| 601 |
+
"action": {
|
| 602 |
+
"imageid": 46,
|
| 603 |
+
"pos": [
|
| 604 |
+
819.7968168207337,
|
| 605 |
+
-425.1877052330593,
|
| 606 |
+
-1.9087129226855506
|
| 607 |
+
],
|
| 608 |
+
"type": "stop",
|
| 609 |
+
"value": 0,
|
| 610 |
+
"yaw": 0.5235987755982894
|
| 611 |
+
}
|
| 612 |
+
}
|
| 613 |
+
{
|
| 614 |
+
"aim_landmark": {
|
| 615 |
+
"color": "test",
|
| 616 |
+
"feature": "test",
|
| 617 |
+
"position": [
|
| 618 |
+
833.5786102294923,
|
| 619 |
+
-416.10598869323735,
|
| 620 |
+
0.0
|
| 621 |
+
],
|
| 622 |
+
"shape": "test",
|
| 623 |
+
"size": "test",
|
| 624 |
+
"type": "building"
|
| 625 |
+
}
|
| 626 |
+
}
|
Image/env_gs_nwpu02/astar_data/long/2025-1-16_13-55-17_1957747793/pose.jsonl
ADDED
|
@@ -0,0 +1,600 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
598.6235553289497,
|
| 6 |
+
-91.03171430798501,
|
| 7 |
+
-8.814487994209601
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 0.0
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
601.6235553289497,
|
| 19 |
+
-91.03171430798501,
|
| 20 |
+
-8.814487994209601
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 0.0
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
604.6235553289497,
|
| 32 |
+
-91.03171430798501,
|
| 33 |
+
-8.814487994209601
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 0.0
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
607.6235553289497,
|
| 45 |
+
-91.03171430798501,
|
| 46 |
+
-8.814487994209601
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 0.0
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
610.6235553289497,
|
| 58 |
+
-91.03171430798501,
|
| 59 |
+
-8.814487994209601
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 0.0
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
613.6235553289497,
|
| 71 |
+
-91.03171430798501,
|
| 72 |
+
-8.814487994209601
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 0.0
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
616.6235553289497,
|
| 84 |
+
-91.03171430798501,
|
| 85 |
+
-8.814487994209601
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 0.0
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
619.6235553289497,
|
| 97 |
+
-91.03171430798501,
|
| 98 |
+
-8.814487994209601
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 0.0
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
622.6235553289497,
|
| 110 |
+
-91.03171430798501,
|
| 111 |
+
-8.814487994209601
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 0.0
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
625.6235553289497,
|
| 123 |
+
-91.03171430798501,
|
| 124 |
+
-8.814487994209601
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 0.0
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
628.6235553289497,
|
| 136 |
+
-91.03171430798501,
|
| 137 |
+
-8.814487994209601
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 0.0
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
631.6235553289497,
|
| 149 |
+
-91.03171430798501,
|
| 150 |
+
-8.814487994209601
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 0.0
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
634.6235553289497,
|
| 162 |
+
-91.03171430798501,
|
| 163 |
+
-8.814487994209601
|
| 164 |
+
],
|
| 165 |
+
"type": "turn left",
|
| 166 |
+
"value": 30,
|
| 167 |
+
"yaw": 0.0
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
634.6235553289497,
|
| 175 |
+
-91.03171430798501,
|
| 176 |
+
-8.814487994209601
|
| 177 |
+
],
|
| 178 |
+
"type": "turn left",
|
| 179 |
+
"value": 30,
|
| 180 |
+
"yaw": 0.5235987755982988
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
634.6235553289497,
|
| 188 |
+
-91.03171430798501,
|
| 189 |
+
-8.814487994209601
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 1.0471975511965976
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
636.1235553289497,
|
| 201 |
+
-88.4336380966317,
|
| 202 |
+
-8.814487994209601
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 1.0471975511965979
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
637.6235553289497,
|
| 214 |
+
-85.83556188527838,
|
| 215 |
+
-8.814487994209601
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 1.0471975511965979
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
639.1235553289497,
|
| 227 |
+
-83.23748567392506,
|
| 228 |
+
-8.814487994209601
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 1.0471975511965979
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"aim_landmark": {
|
| 237 |
+
"color": "test",
|
| 238 |
+
"feature": "test",
|
| 239 |
+
"position": [
|
| 240 |
+
668.9317680358887,
|
| 241 |
+
-69.13963012695314,
|
| 242 |
+
0.0
|
| 243 |
+
],
|
| 244 |
+
"shape": "test",
|
| 245 |
+
"size": "test",
|
| 246 |
+
"type": "building"
|
| 247 |
+
}
|
| 248 |
+
}
|
| 249 |
+
{
|
| 250 |
+
"action": {
|
| 251 |
+
"imageid": 19,
|
| 252 |
+
"pos": [
|
| 253 |
+
640.6235553289497,
|
| 254 |
+
-80.63940946257175,
|
| 255 |
+
-8.814487994209601
|
| 256 |
+
],
|
| 257 |
+
"type": "go straight",
|
| 258 |
+
"value": 3,
|
| 259 |
+
"yaw": 1.0471975511965979
|
| 260 |
+
}
|
| 261 |
+
}
|
| 262 |
+
{
|
| 263 |
+
"action": {
|
| 264 |
+
"imageid": 20,
|
| 265 |
+
"pos": [
|
| 266 |
+
642.1235553289497,
|
| 267 |
+
-78.04133325121843,
|
| 268 |
+
-8.814487994209601
|
| 269 |
+
],
|
| 270 |
+
"type": "go straight",
|
| 271 |
+
"value": 3,
|
| 272 |
+
"yaw": 1.0471975511965979
|
| 273 |
+
}
|
| 274 |
+
}
|
| 275 |
+
{
|
| 276 |
+
"action": {
|
| 277 |
+
"imageid": 21,
|
| 278 |
+
"pos": [
|
| 279 |
+
643.6235553289497,
|
| 280 |
+
-75.44325703986512,
|
| 281 |
+
-8.814487994209601
|
| 282 |
+
],
|
| 283 |
+
"type": "go straight",
|
| 284 |
+
"value": 3,
|
| 285 |
+
"yaw": 1.0471975511965979
|
| 286 |
+
}
|
| 287 |
+
}
|
| 288 |
+
{
|
| 289 |
+
"action": {
|
| 290 |
+
"imageid": 22,
|
| 291 |
+
"pos": [
|
| 292 |
+
645.1235553289497,
|
| 293 |
+
-72.8451808285118,
|
| 294 |
+
-8.814487994209601
|
| 295 |
+
],
|
| 296 |
+
"type": "go straight",
|
| 297 |
+
"value": 3,
|
| 298 |
+
"yaw": 1.0471975511965979
|
| 299 |
+
}
|
| 300 |
+
}
|
| 301 |
+
{
|
| 302 |
+
"action": {
|
| 303 |
+
"imageid": 23,
|
| 304 |
+
"pos": [
|
| 305 |
+
646.6235553289497,
|
| 306 |
+
-70.24710461715848,
|
| 307 |
+
-8.814487994209601
|
| 308 |
+
],
|
| 309 |
+
"type": "go straight",
|
| 310 |
+
"value": 3,
|
| 311 |
+
"yaw": 1.0471975511965979
|
| 312 |
+
}
|
| 313 |
+
}
|
| 314 |
+
{
|
| 315 |
+
"action": {
|
| 316 |
+
"imageid": 24,
|
| 317 |
+
"pos": [
|
| 318 |
+
648.1235553289497,
|
| 319 |
+
-67.64902840580517,
|
| 320 |
+
-8.814487994209601
|
| 321 |
+
],
|
| 322 |
+
"type": "go straight",
|
| 323 |
+
"value": 3,
|
| 324 |
+
"yaw": 1.0471975511965979
|
| 325 |
+
}
|
| 326 |
+
}
|
| 327 |
+
{
|
| 328 |
+
"action": {
|
| 329 |
+
"imageid": 25,
|
| 330 |
+
"pos": [
|
| 331 |
+
649.6235553289497,
|
| 332 |
+
-65.05095219445185,
|
| 333 |
+
-8.814487994209601
|
| 334 |
+
],
|
| 335 |
+
"type": "go straight",
|
| 336 |
+
"value": 3,
|
| 337 |
+
"yaw": 1.0471975511965979
|
| 338 |
+
}
|
| 339 |
+
}
|
| 340 |
+
{
|
| 341 |
+
"action": {
|
| 342 |
+
"imageid": 26,
|
| 343 |
+
"pos": [
|
| 344 |
+
651.1235553289497,
|
| 345 |
+
-62.45287598309854,
|
| 346 |
+
-8.814487994209601
|
| 347 |
+
],
|
| 348 |
+
"type": "go straight",
|
| 349 |
+
"value": 3,
|
| 350 |
+
"yaw": 1.0471975511965979
|
| 351 |
+
}
|
| 352 |
+
}
|
| 353 |
+
{
|
| 354 |
+
"action": {
|
| 355 |
+
"imageid": 27,
|
| 356 |
+
"pos": [
|
| 357 |
+
652.6235553289497,
|
| 358 |
+
-59.85479977174522,
|
| 359 |
+
-8.814487994209601
|
| 360 |
+
],
|
| 361 |
+
"type": "go straight",
|
| 362 |
+
"value": 3,
|
| 363 |
+
"yaw": 1.0471975511965979
|
| 364 |
+
}
|
| 365 |
+
}
|
| 366 |
+
{
|
| 367 |
+
"action": {
|
| 368 |
+
"imageid": 28,
|
| 369 |
+
"pos": [
|
| 370 |
+
654.1235553289497,
|
| 371 |
+
-57.256723560391904,
|
| 372 |
+
-8.814487994209601
|
| 373 |
+
],
|
| 374 |
+
"type": "go straight",
|
| 375 |
+
"value": 3,
|
| 376 |
+
"yaw": 1.0471975511965979
|
| 377 |
+
}
|
| 378 |
+
}
|
| 379 |
+
{
|
| 380 |
+
"action": {
|
| 381 |
+
"imageid": 29,
|
| 382 |
+
"pos": [
|
| 383 |
+
655.6235553289497,
|
| 384 |
+
-54.65864734903859,
|
| 385 |
+
-8.814487994209601
|
| 386 |
+
],
|
| 387 |
+
"type": "go straight",
|
| 388 |
+
"value": 3,
|
| 389 |
+
"yaw": 1.0471975511965979
|
| 390 |
+
}
|
| 391 |
+
}
|
| 392 |
+
{
|
| 393 |
+
"action": {
|
| 394 |
+
"imageid": 30,
|
| 395 |
+
"pos": [
|
| 396 |
+
657.1235553289497,
|
| 397 |
+
-52.06057113768527,
|
| 398 |
+
-8.814487994209601
|
| 399 |
+
],
|
| 400 |
+
"type": "go straight",
|
| 401 |
+
"value": 3,
|
| 402 |
+
"yaw": 1.0471975511965979
|
| 403 |
+
}
|
| 404 |
+
}
|
| 405 |
+
{
|
| 406 |
+
"action": {
|
| 407 |
+
"imageid": 31,
|
| 408 |
+
"pos": [
|
| 409 |
+
658.6235553289497,
|
| 410 |
+
-49.462494926331956,
|
| 411 |
+
-8.814487994209601
|
| 412 |
+
],
|
| 413 |
+
"type": "turn left",
|
| 414 |
+
"value": 30,
|
| 415 |
+
"yaw": 1.0471975511965979
|
| 416 |
+
}
|
| 417 |
+
}
|
| 418 |
+
{
|
| 419 |
+
"action": {
|
| 420 |
+
"imageid": 32,
|
| 421 |
+
"pos": [
|
| 422 |
+
658.6235553289497,
|
| 423 |
+
-49.462494926331956,
|
| 424 |
+
-8.814487994209601
|
| 425 |
+
],
|
| 426 |
+
"type": "go straight",
|
| 427 |
+
"value": 3,
|
| 428 |
+
"yaw": 1.5707963267948966
|
| 429 |
+
}
|
| 430 |
+
}
|
| 431 |
+
{
|
| 432 |
+
"action": {
|
| 433 |
+
"imageid": 33,
|
| 434 |
+
"pos": [
|
| 435 |
+
658.6235553289497,
|
| 436 |
+
-46.462494926331956,
|
| 437 |
+
-8.814487994209601
|
| 438 |
+
],
|
| 439 |
+
"type": "go straight",
|
| 440 |
+
"value": 3,
|
| 441 |
+
"yaw": 1.5707963267948966
|
| 442 |
+
}
|
| 443 |
+
}
|
| 444 |
+
{
|
| 445 |
+
"action": {
|
| 446 |
+
"imageid": 34,
|
| 447 |
+
"pos": [
|
| 448 |
+
658.6235553289497,
|
| 449 |
+
-43.462494926331956,
|
| 450 |
+
-8.814487994209601
|
| 451 |
+
],
|
| 452 |
+
"type": "go straight",
|
| 453 |
+
"value": 3,
|
| 454 |
+
"yaw": 1.5707963267948966
|
| 455 |
+
}
|
| 456 |
+
}
|
| 457 |
+
{
|
| 458 |
+
"action": {
|
| 459 |
+
"imageid": 35,
|
| 460 |
+
"pos": [
|
| 461 |
+
658.6235553289497,
|
| 462 |
+
-40.462494926331956,
|
| 463 |
+
-8.814487994209601
|
| 464 |
+
],
|
| 465 |
+
"type": "go straight",
|
| 466 |
+
"value": 3,
|
| 467 |
+
"yaw": 1.5707963267948966
|
| 468 |
+
}
|
| 469 |
+
}
|
| 470 |
+
{
|
| 471 |
+
"action": {
|
| 472 |
+
"imageid": 36,
|
| 473 |
+
"pos": [
|
| 474 |
+
658.6235553289497,
|
| 475 |
+
-37.462494926331956,
|
| 476 |
+
-8.814487994209601
|
| 477 |
+
],
|
| 478 |
+
"type": "go straight",
|
| 479 |
+
"value": 3,
|
| 480 |
+
"yaw": 1.5707963267948966
|
| 481 |
+
}
|
| 482 |
+
}
|
| 483 |
+
{
|
| 484 |
+
"action": {
|
| 485 |
+
"imageid": 37,
|
| 486 |
+
"pos": [
|
| 487 |
+
658.6235553289497,
|
| 488 |
+
-34.462494926331956,
|
| 489 |
+
-8.814487994209601
|
| 490 |
+
],
|
| 491 |
+
"type": "go straight",
|
| 492 |
+
"value": 3,
|
| 493 |
+
"yaw": 1.5707963267948966
|
| 494 |
+
}
|
| 495 |
+
}
|
| 496 |
+
{
|
| 497 |
+
"action": {
|
| 498 |
+
"imageid": 38,
|
| 499 |
+
"pos": [
|
| 500 |
+
658.6235553289497,
|
| 501 |
+
-31.462494926331956,
|
| 502 |
+
-8.814487994209601
|
| 503 |
+
],
|
| 504 |
+
"type": "go straight",
|
| 505 |
+
"value": 3,
|
| 506 |
+
"yaw": 1.5707963267948966
|
| 507 |
+
}
|
| 508 |
+
}
|
| 509 |
+
{
|
| 510 |
+
"action": {
|
| 511 |
+
"imageid": 39,
|
| 512 |
+
"pos": [
|
| 513 |
+
658.6235553289497,
|
| 514 |
+
-28.462494926331956,
|
| 515 |
+
-8.814487994209601
|
| 516 |
+
],
|
| 517 |
+
"type": "go straight",
|
| 518 |
+
"value": 3,
|
| 519 |
+
"yaw": 1.5707963267948966
|
| 520 |
+
}
|
| 521 |
+
}
|
| 522 |
+
{
|
| 523 |
+
"action": {
|
| 524 |
+
"imageid": 40,
|
| 525 |
+
"pos": [
|
| 526 |
+
658.6235553289497,
|
| 527 |
+
-25.462494926331956,
|
| 528 |
+
-8.814487994209601
|
| 529 |
+
],
|
| 530 |
+
"type": "go straight",
|
| 531 |
+
"value": 3,
|
| 532 |
+
"yaw": 1.5707963267948966
|
| 533 |
+
}
|
| 534 |
+
}
|
| 535 |
+
{
|
| 536 |
+
"action": {
|
| 537 |
+
"imageid": 41,
|
| 538 |
+
"pos": [
|
| 539 |
+
658.6235553289497,
|
| 540 |
+
-22.462494926331956,
|
| 541 |
+
-8.814487994209601
|
| 542 |
+
],
|
| 543 |
+
"type": "go straight",
|
| 544 |
+
"value": 3,
|
| 545 |
+
"yaw": 1.5707963267948966
|
| 546 |
+
}
|
| 547 |
+
}
|
| 548 |
+
{
|
| 549 |
+
"action": {
|
| 550 |
+
"imageid": 42,
|
| 551 |
+
"pos": [
|
| 552 |
+
658.6235553289497,
|
| 553 |
+
-19.462494926331956,
|
| 554 |
+
-8.814487994209601
|
| 555 |
+
],
|
| 556 |
+
"type": "go straight",
|
| 557 |
+
"value": 3,
|
| 558 |
+
"yaw": 1.5707963267948966
|
| 559 |
+
}
|
| 560 |
+
}
|
| 561 |
+
{
|
| 562 |
+
"action": {
|
| 563 |
+
"imageid": 43,
|
| 564 |
+
"pos": [
|
| 565 |
+
658.6235553289497,
|
| 566 |
+
-16.462494926331956,
|
| 567 |
+
-8.814487994209601
|
| 568 |
+
],
|
| 569 |
+
"type": "go straight",
|
| 570 |
+
"value": 3,
|
| 571 |
+
"yaw": 1.5707963267948966
|
| 572 |
+
}
|
| 573 |
+
}
|
| 574 |
+
{
|
| 575 |
+
"action": {
|
| 576 |
+
"imageid": 44,
|
| 577 |
+
"pos": [
|
| 578 |
+
658.6235553289497,
|
| 579 |
+
-13.462494926331956,
|
| 580 |
+
-8.814487994209601
|
| 581 |
+
],
|
| 582 |
+
"type": "stop",
|
| 583 |
+
"value": 0,
|
| 584 |
+
"yaw": 1.5707963267948966
|
| 585 |
+
}
|
| 586 |
+
}
|
| 587 |
+
{
|
| 588 |
+
"aim_landmark": {
|
| 589 |
+
"color": "test",
|
| 590 |
+
"feature": "test",
|
| 591 |
+
"position": [
|
| 592 |
+
661.0575393676759,
|
| 593 |
+
-10.88031406402588,
|
| 594 |
+
0.0
|
| 595 |
+
],
|
| 596 |
+
"shape": "test",
|
| 597 |
+
"size": "test",
|
| 598 |
+
"type": "building"
|
| 599 |
+
}
|
| 600 |
+
}
|
Image/env_gs_nwpu02/astar_data/long/2025-1-16_13-56-19_719885386/pose.jsonl
ADDED
|
@@ -0,0 +1,236 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
886.4121668134317,
|
| 6 |
+
-209.44147837425788,
|
| 7 |
+
-3.3855586668458226
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -1.0471975511965979
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
887.9121668134317,
|
| 19 |
+
-212.0395545856112,
|
| 20 |
+
-3.3855586668458226
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -1.0471975511965979
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
889.4121668134317,
|
| 32 |
+
-214.63763079696452,
|
| 33 |
+
-3.3855586668458226
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -1.0471975511965979
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
890.9121668134317,
|
| 45 |
+
-217.23570700831783,
|
| 46 |
+
-3.3855586668458226
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -1.0471975511965979
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
892.4121668134317,
|
| 58 |
+
-219.83378321967115,
|
| 59 |
+
-3.3855586668458226
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -1.0471975511965979
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
893.9121668134317,
|
| 71 |
+
-222.43185943102446,
|
| 72 |
+
-3.3855586668458226
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -1.0471975511965979
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
895.4121668134317,
|
| 84 |
+
-225.02993564237778,
|
| 85 |
+
-3.3855586668458226
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -1.0471975511965979
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
896.9121668134317,
|
| 97 |
+
-227.6280118537311,
|
| 98 |
+
-3.3855586668458226
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -1.0471975511965979
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"aim_landmark": {
|
| 107 |
+
"color": "test",
|
| 108 |
+
"feature": "test",
|
| 109 |
+
"position": [
|
| 110 |
+
919.2332725524903,
|
| 111 |
+
-271.52674827575686,
|
| 112 |
+
0.0
|
| 113 |
+
],
|
| 114 |
+
"shape": "test",
|
| 115 |
+
"size": "test",
|
| 116 |
+
"type": "building"
|
| 117 |
+
}
|
| 118 |
+
}
|
| 119 |
+
{
|
| 120 |
+
"action": {
|
| 121 |
+
"imageid": 9,
|
| 122 |
+
"pos": [
|
| 123 |
+
898.4121668134317,
|
| 124 |
+
-230.2260880650844,
|
| 125 |
+
-3.3855586668458226
|
| 126 |
+
],
|
| 127 |
+
"type": "turn right",
|
| 128 |
+
"value": 30,
|
| 129 |
+
"yaw": -1.0471975511965979
|
| 130 |
+
}
|
| 131 |
+
}
|
| 132 |
+
{
|
| 133 |
+
"action": {
|
| 134 |
+
"imageid": 10,
|
| 135 |
+
"pos": [
|
| 136 |
+
898.4121668134317,
|
| 137 |
+
-230.2260880650844,
|
| 138 |
+
-3.3855586668458226
|
| 139 |
+
],
|
| 140 |
+
"type": "turn right",
|
| 141 |
+
"value": 30,
|
| 142 |
+
"yaw": -1.5707963267948966
|
| 143 |
+
}
|
| 144 |
+
}
|
| 145 |
+
{
|
| 146 |
+
"action": {
|
| 147 |
+
"imageid": 11,
|
| 148 |
+
"pos": [
|
| 149 |
+
898.4121668134317,
|
| 150 |
+
-230.2260880650844,
|
| 151 |
+
-3.3855586668458226
|
| 152 |
+
],
|
| 153 |
+
"type": "go straight",
|
| 154 |
+
"value": 3,
|
| 155 |
+
"yaw": -2.0943951023931953
|
| 156 |
+
}
|
| 157 |
+
}
|
| 158 |
+
{
|
| 159 |
+
"action": {
|
| 160 |
+
"imageid": 12,
|
| 161 |
+
"pos": [
|
| 162 |
+
896.9121668134317,
|
| 163 |
+
-232.82416427643773,
|
| 164 |
+
-3.3855586668458226
|
| 165 |
+
],
|
| 166 |
+
"type": "go straight",
|
| 167 |
+
"value": 3,
|
| 168 |
+
"yaw": -2.0943951023931953
|
| 169 |
+
}
|
| 170 |
+
}
|
| 171 |
+
{
|
| 172 |
+
"action": {
|
| 173 |
+
"imageid": 13,
|
| 174 |
+
"pos": [
|
| 175 |
+
895.4121668134317,
|
| 176 |
+
-235.42224048779104,
|
| 177 |
+
-3.3855586668458226
|
| 178 |
+
],
|
| 179 |
+
"type": "go straight",
|
| 180 |
+
"value": 3,
|
| 181 |
+
"yaw": -2.0943951023931953
|
| 182 |
+
}
|
| 183 |
+
}
|
| 184 |
+
{
|
| 185 |
+
"action": {
|
| 186 |
+
"imageid": 14,
|
| 187 |
+
"pos": [
|
| 188 |
+
893.9121668134317,
|
| 189 |
+
-238.02031669914436,
|
| 190 |
+
-3.3855586668458226
|
| 191 |
+
],
|
| 192 |
+
"type": "go straight",
|
| 193 |
+
"value": 3,
|
| 194 |
+
"yaw": -2.0943951023931953
|
| 195 |
+
}
|
| 196 |
+
}
|
| 197 |
+
{
|
| 198 |
+
"action": {
|
| 199 |
+
"imageid": 15,
|
| 200 |
+
"pos": [
|
| 201 |
+
892.4121668134317,
|
| 202 |
+
-240.61839291049768,
|
| 203 |
+
-3.3855586668458226
|
| 204 |
+
],
|
| 205 |
+
"type": "go straight",
|
| 206 |
+
"value": 3,
|
| 207 |
+
"yaw": -2.0943951023931953
|
| 208 |
+
}
|
| 209 |
+
}
|
| 210 |
+
{
|
| 211 |
+
"action": {
|
| 212 |
+
"imageid": 16,
|
| 213 |
+
"pos": [
|
| 214 |
+
890.9121668134317,
|
| 215 |
+
-243.216469121851,
|
| 216 |
+
-3.3855586668458226
|
| 217 |
+
],
|
| 218 |
+
"type": "stop",
|
| 219 |
+
"value": 0,
|
| 220 |
+
"yaw": -2.0943951023931953
|
| 221 |
+
}
|
| 222 |
+
}
|
| 223 |
+
{
|
| 224 |
+
"aim_landmark": {
|
| 225 |
+
"color": "test",
|
| 226 |
+
"feature": "test",
|
| 227 |
+
"position": [
|
| 228 |
+
871.2010513305664,
|
| 229 |
+
-278.09218101501466,
|
| 230 |
+
0.0
|
| 231 |
+
],
|
| 232 |
+
"shape": "test",
|
| 233 |
+
"size": "test",
|
| 234 |
+
"type": "building"
|
| 235 |
+
}
|
| 236 |
+
}
|
Image/env_gs_nwpu02/astar_data/long/2025-1-16_13-57-27_1189641421/pose.jsonl
ADDED
|
@@ -0,0 +1,717 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
391.28274844019995,
|
| 6 |
+
-521.8768692493309,
|
| 7 |
+
-9.163692973246706
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 0.0
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
394.28274844019995,
|
| 19 |
+
-521.8768692493309,
|
| 20 |
+
-9.163692973246706
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 0.0
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
397.28274844019995,
|
| 32 |
+
-521.8768692493309,
|
| 33 |
+
-9.163692973246706
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 0.0
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
400.28274844019995,
|
| 45 |
+
-521.8768692493309,
|
| 46 |
+
-9.163692973246706
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 0.0
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
403.28274844019995,
|
| 58 |
+
-521.8768692493309,
|
| 59 |
+
-9.163692973246706
|
| 60 |
+
],
|
| 61 |
+
"type": "turn left",
|
| 62 |
+
"value": 30,
|
| 63 |
+
"yaw": 0.0
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
403.28274844019995,
|
| 71 |
+
-521.8768692493309,
|
| 72 |
+
-9.163692973246706
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 0.5235987755982988
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
405.88082465155327,
|
| 84 |
+
-520.3768692493309,
|
| 85 |
+
-9.163692973246706
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 0.5235987755982988
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
408.4789008629066,
|
| 97 |
+
-518.8768692493309,
|
| 98 |
+
-9.163692973246706
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 0.5235987755982988
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
411.0769770742599,
|
| 110 |
+
-517.3768692493309,
|
| 111 |
+
-9.163692973246706
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 0.5235987755982988
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
413.6750532856132,
|
| 123 |
+
-515.8768692493309,
|
| 124 |
+
-9.163692973246706
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 0.5235987755982988
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
416.27312949696653,
|
| 136 |
+
-514.3768692493309,
|
| 137 |
+
-9.163692973246706
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 0.5235987755982988
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
418.87120570831985,
|
| 149 |
+
-512.8768692493309,
|
| 150 |
+
-9.163692973246706
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 0.5235987755982988
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
421.46928191967316,
|
| 162 |
+
-511.37686924933087,
|
| 163 |
+
-9.163692973246706
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 0.5235987755982988
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
424.0673581310265,
|
| 175 |
+
-509.87686924933087,
|
| 176 |
+
-9.163692973246706
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 0.5235987755982988
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
426.6654343423798,
|
| 188 |
+
-508.37686924933087,
|
| 189 |
+
-9.163692973246706
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 0.5235987755982988
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
429.2635105537331,
|
| 201 |
+
-506.87686924933087,
|
| 202 |
+
-9.163692973246706
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 0.5235987755982988
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
431.86158676508643,
|
| 214 |
+
-505.37686924933087,
|
| 215 |
+
-9.163692973246706
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 0.5235987755982988
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
434.45966297643974,
|
| 227 |
+
-503.87686924933087,
|
| 228 |
+
-9.163692973246706
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 0.5235987755982988
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
437.05773918779306,
|
| 240 |
+
-502.37686924933087,
|
| 241 |
+
-9.163692973246706
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 0.5235987755982988
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
439.6558153991464,
|
| 253 |
+
-500.87686924933087,
|
| 254 |
+
-9.163692973246706
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": 0.5235987755982988
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"aim_landmark": {
|
| 263 |
+
"color": "test",
|
| 264 |
+
"feature": "test",
|
| 265 |
+
"position": [
|
| 266 |
+
443.92731246948244,
|
| 267 |
+
-500.4978652954102,
|
| 268 |
+
0.0
|
| 269 |
+
],
|
| 270 |
+
"shape": "test",
|
| 271 |
+
"size": "test",
|
| 272 |
+
"type": "building"
|
| 273 |
+
}
|
| 274 |
+
}
|
| 275 |
+
{
|
| 276 |
+
"action": {
|
| 277 |
+
"imageid": 21,
|
| 278 |
+
"pos": [
|
| 279 |
+
442.2538916104997,
|
| 280 |
+
-499.37686924933087,
|
| 281 |
+
-9.163692973246706
|
| 282 |
+
],
|
| 283 |
+
"type": "turn right",
|
| 284 |
+
"value": 30,
|
| 285 |
+
"yaw": 0.5235987755982988
|
| 286 |
+
}
|
| 287 |
+
}
|
| 288 |
+
{
|
| 289 |
+
"action": {
|
| 290 |
+
"imageid": 22,
|
| 291 |
+
"pos": [
|
| 292 |
+
442.2538916104997,
|
| 293 |
+
-499.37686924933087,
|
| 294 |
+
-9.163692973246706
|
| 295 |
+
],
|
| 296 |
+
"type": "turn right",
|
| 297 |
+
"value": 30,
|
| 298 |
+
"yaw": 0.0
|
| 299 |
+
}
|
| 300 |
+
}
|
| 301 |
+
{
|
| 302 |
+
"action": {
|
| 303 |
+
"imageid": 23,
|
| 304 |
+
"pos": [
|
| 305 |
+
442.2538916104997,
|
| 306 |
+
-499.37686924933087,
|
| 307 |
+
-9.163692973246706
|
| 308 |
+
],
|
| 309 |
+
"type": "turn right",
|
| 310 |
+
"value": 30,
|
| 311 |
+
"yaw": -0.5235987755982988
|
| 312 |
+
}
|
| 313 |
+
}
|
| 314 |
+
{
|
| 315 |
+
"action": {
|
| 316 |
+
"imageid": 24,
|
| 317 |
+
"pos": [
|
| 318 |
+
442.2538916104997,
|
| 319 |
+
-499.37686924933087,
|
| 320 |
+
-9.163692973246706
|
| 321 |
+
],
|
| 322 |
+
"type": "turn right",
|
| 323 |
+
"value": 30,
|
| 324 |
+
"yaw": -1.0471975511965979
|
| 325 |
+
}
|
| 326 |
+
}
|
| 327 |
+
{
|
| 328 |
+
"action": {
|
| 329 |
+
"imageid": 25,
|
| 330 |
+
"pos": [
|
| 331 |
+
442.2538916104997,
|
| 332 |
+
-499.37686924933087,
|
| 333 |
+
-9.163692973246706
|
| 334 |
+
],
|
| 335 |
+
"type": "turn right",
|
| 336 |
+
"value": 30,
|
| 337 |
+
"yaw": -1.5707963267948966
|
| 338 |
+
}
|
| 339 |
+
}
|
| 340 |
+
{
|
| 341 |
+
"action": {
|
| 342 |
+
"imageid": 26,
|
| 343 |
+
"pos": [
|
| 344 |
+
442.2538916104997,
|
| 345 |
+
-499.37686924933087,
|
| 346 |
+
-9.163692973246706
|
| 347 |
+
],
|
| 348 |
+
"type": "go straight",
|
| 349 |
+
"value": 3,
|
| 350 |
+
"yaw": -1.5707963267948966
|
| 351 |
+
}
|
| 352 |
+
}
|
| 353 |
+
{
|
| 354 |
+
"action": {
|
| 355 |
+
"imageid": 27,
|
| 356 |
+
"pos": [
|
| 357 |
+
442.2538916104997,
|
| 358 |
+
-502.37686924933087,
|
| 359 |
+
-9.163692973246706
|
| 360 |
+
],
|
| 361 |
+
"type": "go straight",
|
| 362 |
+
"value": 3,
|
| 363 |
+
"yaw": -1.5707963267948966
|
| 364 |
+
}
|
| 365 |
+
}
|
| 366 |
+
{
|
| 367 |
+
"action": {
|
| 368 |
+
"imageid": 28,
|
| 369 |
+
"pos": [
|
| 370 |
+
442.2538916104997,
|
| 371 |
+
-505.37686924933087,
|
| 372 |
+
-9.163692973246706
|
| 373 |
+
],
|
| 374 |
+
"type": "go straight",
|
| 375 |
+
"value": 3,
|
| 376 |
+
"yaw": -1.5707963267948966
|
| 377 |
+
}
|
| 378 |
+
}
|
| 379 |
+
{
|
| 380 |
+
"action": {
|
| 381 |
+
"imageid": 29,
|
| 382 |
+
"pos": [
|
| 383 |
+
442.2538916104997,
|
| 384 |
+
-508.37686924933087,
|
| 385 |
+
-9.163692973246706
|
| 386 |
+
],
|
| 387 |
+
"type": "go straight",
|
| 388 |
+
"value": 3,
|
| 389 |
+
"yaw": -1.5707963267948966
|
| 390 |
+
}
|
| 391 |
+
}
|
| 392 |
+
{
|
| 393 |
+
"action": {
|
| 394 |
+
"imageid": 30,
|
| 395 |
+
"pos": [
|
| 396 |
+
442.2538916104997,
|
| 397 |
+
-511.37686924933087,
|
| 398 |
+
-9.163692973246706
|
| 399 |
+
],
|
| 400 |
+
"type": "go straight",
|
| 401 |
+
"value": 3,
|
| 402 |
+
"yaw": -1.5707963267948966
|
| 403 |
+
}
|
| 404 |
+
}
|
| 405 |
+
{
|
| 406 |
+
"action": {
|
| 407 |
+
"imageid": 31,
|
| 408 |
+
"pos": [
|
| 409 |
+
442.2538916104997,
|
| 410 |
+
-514.3768692493309,
|
| 411 |
+
-9.163692973246706
|
| 412 |
+
],
|
| 413 |
+
"type": "go straight",
|
| 414 |
+
"value": 3,
|
| 415 |
+
"yaw": -1.5707963267948966
|
| 416 |
+
}
|
| 417 |
+
}
|
| 418 |
+
{
|
| 419 |
+
"action": {
|
| 420 |
+
"imageid": 32,
|
| 421 |
+
"pos": [
|
| 422 |
+
442.2538916104997,
|
| 423 |
+
-517.3768692493309,
|
| 424 |
+
-9.163692973246706
|
| 425 |
+
],
|
| 426 |
+
"type": "go straight",
|
| 427 |
+
"value": 3,
|
| 428 |
+
"yaw": -1.5707963267948966
|
| 429 |
+
}
|
| 430 |
+
}
|
| 431 |
+
{
|
| 432 |
+
"action": {
|
| 433 |
+
"imageid": 33,
|
| 434 |
+
"pos": [
|
| 435 |
+
442.2538916104997,
|
| 436 |
+
-520.3768692493309,
|
| 437 |
+
-9.163692973246706
|
| 438 |
+
],
|
| 439 |
+
"type": "go straight",
|
| 440 |
+
"value": 3,
|
| 441 |
+
"yaw": -1.5707963267948966
|
| 442 |
+
}
|
| 443 |
+
}
|
| 444 |
+
{
|
| 445 |
+
"action": {
|
| 446 |
+
"imageid": 34,
|
| 447 |
+
"pos": [
|
| 448 |
+
442.2538916104997,
|
| 449 |
+
-523.3768692493309,
|
| 450 |
+
-9.163692973246706
|
| 451 |
+
],
|
| 452 |
+
"type": "go straight",
|
| 453 |
+
"value": 3,
|
| 454 |
+
"yaw": -1.5707963267948966
|
| 455 |
+
}
|
| 456 |
+
}
|
| 457 |
+
{
|
| 458 |
+
"action": {
|
| 459 |
+
"imageid": 35,
|
| 460 |
+
"pos": [
|
| 461 |
+
442.2538916104997,
|
| 462 |
+
-526.3768692493309,
|
| 463 |
+
-9.163692973246706
|
| 464 |
+
],
|
| 465 |
+
"type": "go straight",
|
| 466 |
+
"value": 3,
|
| 467 |
+
"yaw": -1.5707963267948966
|
| 468 |
+
}
|
| 469 |
+
}
|
| 470 |
+
{
|
| 471 |
+
"action": {
|
| 472 |
+
"imageid": 36,
|
| 473 |
+
"pos": [
|
| 474 |
+
442.2538916104997,
|
| 475 |
+
-529.3768692493309,
|
| 476 |
+
-9.163692973246706
|
| 477 |
+
],
|
| 478 |
+
"type": "go straight",
|
| 479 |
+
"value": 3,
|
| 480 |
+
"yaw": -1.5707963267948966
|
| 481 |
+
}
|
| 482 |
+
}
|
| 483 |
+
{
|
| 484 |
+
"action": {
|
| 485 |
+
"imageid": 37,
|
| 486 |
+
"pos": [
|
| 487 |
+
442.2538916104997,
|
| 488 |
+
-532.3768692493309,
|
| 489 |
+
-9.163692973246706
|
| 490 |
+
],
|
| 491 |
+
"type": "go straight",
|
| 492 |
+
"value": 3,
|
| 493 |
+
"yaw": -1.5707963267948966
|
| 494 |
+
}
|
| 495 |
+
}
|
| 496 |
+
{
|
| 497 |
+
"action": {
|
| 498 |
+
"imageid": 38,
|
| 499 |
+
"pos": [
|
| 500 |
+
442.2538916104997,
|
| 501 |
+
-535.3768692493309,
|
| 502 |
+
-9.163692973246706
|
| 503 |
+
],
|
| 504 |
+
"type": "go straight",
|
| 505 |
+
"value": 3,
|
| 506 |
+
"yaw": -1.5707963267948966
|
| 507 |
+
}
|
| 508 |
+
}
|
| 509 |
+
{
|
| 510 |
+
"action": {
|
| 511 |
+
"imageid": 39,
|
| 512 |
+
"pos": [
|
| 513 |
+
442.2538916104997,
|
| 514 |
+
-538.3768692493309,
|
| 515 |
+
-9.163692973246706
|
| 516 |
+
],
|
| 517 |
+
"type": "go straight",
|
| 518 |
+
"value": 3,
|
| 519 |
+
"yaw": -1.5707963267948966
|
| 520 |
+
}
|
| 521 |
+
}
|
| 522 |
+
{
|
| 523 |
+
"action": {
|
| 524 |
+
"imageid": 40,
|
| 525 |
+
"pos": [
|
| 526 |
+
442.2538916104997,
|
| 527 |
+
-541.3768692493309,
|
| 528 |
+
-9.163692973246706
|
| 529 |
+
],
|
| 530 |
+
"type": "go straight",
|
| 531 |
+
"value": 3,
|
| 532 |
+
"yaw": -1.5707963267948966
|
| 533 |
+
}
|
| 534 |
+
}
|
| 535 |
+
{
|
| 536 |
+
"action": {
|
| 537 |
+
"imageid": 41,
|
| 538 |
+
"pos": [
|
| 539 |
+
442.2538916104997,
|
| 540 |
+
-544.3768692493309,
|
| 541 |
+
-9.163692973246706
|
| 542 |
+
],
|
| 543 |
+
"type": "go straight",
|
| 544 |
+
"value": 3,
|
| 545 |
+
"yaw": -1.5707963267948966
|
| 546 |
+
}
|
| 547 |
+
}
|
| 548 |
+
{
|
| 549 |
+
"action": {
|
| 550 |
+
"imageid": 42,
|
| 551 |
+
"pos": [
|
| 552 |
+
442.2538916104997,
|
| 553 |
+
-547.3768692493309,
|
| 554 |
+
-9.163692973246706
|
| 555 |
+
],
|
| 556 |
+
"type": "go straight",
|
| 557 |
+
"value": 3,
|
| 558 |
+
"yaw": -1.5707963267948966
|
| 559 |
+
}
|
| 560 |
+
}
|
| 561 |
+
{
|
| 562 |
+
"action": {
|
| 563 |
+
"imageid": 43,
|
| 564 |
+
"pos": [
|
| 565 |
+
442.2538916104997,
|
| 566 |
+
-550.3768692493309,
|
| 567 |
+
-9.163692973246706
|
| 568 |
+
],
|
| 569 |
+
"type": "go straight",
|
| 570 |
+
"value": 3,
|
| 571 |
+
"yaw": -1.5707963267948966
|
| 572 |
+
}
|
| 573 |
+
}
|
| 574 |
+
{
|
| 575 |
+
"action": {
|
| 576 |
+
"imageid": 44,
|
| 577 |
+
"pos": [
|
| 578 |
+
442.2538916104997,
|
| 579 |
+
-553.3768692493309,
|
| 580 |
+
-9.163692973246706
|
| 581 |
+
],
|
| 582 |
+
"type": "go straight",
|
| 583 |
+
"value": 3,
|
| 584 |
+
"yaw": -1.5707963267948966
|
| 585 |
+
}
|
| 586 |
+
}
|
| 587 |
+
{
|
| 588 |
+
"action": {
|
| 589 |
+
"imageid": 45,
|
| 590 |
+
"pos": [
|
| 591 |
+
442.2538916104997,
|
| 592 |
+
-556.3768692493309,
|
| 593 |
+
-9.163692973246706
|
| 594 |
+
],
|
| 595 |
+
"type": "go straight",
|
| 596 |
+
"value": 3,
|
| 597 |
+
"yaw": -1.5707963267948966
|
| 598 |
+
}
|
| 599 |
+
}
|
| 600 |
+
{
|
| 601 |
+
"action": {
|
| 602 |
+
"imageid": 46,
|
| 603 |
+
"pos": [
|
| 604 |
+
442.2538916104997,
|
| 605 |
+
-559.3768692493309,
|
| 606 |
+
-9.163692973246706
|
| 607 |
+
],
|
| 608 |
+
"type": "go straight",
|
| 609 |
+
"value": 3,
|
| 610 |
+
"yaw": -1.5707963267948966
|
| 611 |
+
}
|
| 612 |
+
}
|
| 613 |
+
{
|
| 614 |
+
"action": {
|
| 615 |
+
"imageid": 47,
|
| 616 |
+
"pos": [
|
| 617 |
+
442.2538916104997,
|
| 618 |
+
-562.3768692493309,
|
| 619 |
+
-9.163692973246706
|
| 620 |
+
],
|
| 621 |
+
"type": "go straight",
|
| 622 |
+
"value": 3,
|
| 623 |
+
"yaw": -1.5707963267948966
|
| 624 |
+
}
|
| 625 |
+
}
|
| 626 |
+
{
|
| 627 |
+
"action": {
|
| 628 |
+
"imageid": 48,
|
| 629 |
+
"pos": [
|
| 630 |
+
442.2538916104997,
|
| 631 |
+
-565.3768692493309,
|
| 632 |
+
-9.163692973246706
|
| 633 |
+
],
|
| 634 |
+
"type": "go straight",
|
| 635 |
+
"value": 3,
|
| 636 |
+
"yaw": -1.5707963267948966
|
| 637 |
+
}
|
| 638 |
+
}
|
| 639 |
+
{
|
| 640 |
+
"action": {
|
| 641 |
+
"imageid": 49,
|
| 642 |
+
"pos": [
|
| 643 |
+
442.2538916104997,
|
| 644 |
+
-568.3768692493309,
|
| 645 |
+
-9.163692973246706
|
| 646 |
+
],
|
| 647 |
+
"type": "go straight",
|
| 648 |
+
"value": 3,
|
| 649 |
+
"yaw": -1.5707963267948966
|
| 650 |
+
}
|
| 651 |
+
}
|
| 652 |
+
{
|
| 653 |
+
"action": {
|
| 654 |
+
"imageid": 50,
|
| 655 |
+
"pos": [
|
| 656 |
+
442.2538916104997,
|
| 657 |
+
-571.3768692493309,
|
| 658 |
+
-9.163692973246706
|
| 659 |
+
],
|
| 660 |
+
"type": "turn right",
|
| 661 |
+
"value": 30,
|
| 662 |
+
"yaw": -1.5707963267948966
|
| 663 |
+
}
|
| 664 |
+
}
|
| 665 |
+
{
|
| 666 |
+
"action": {
|
| 667 |
+
"imageid": 51,
|
| 668 |
+
"pos": [
|
| 669 |
+
442.2538916104997,
|
| 670 |
+
-571.3768692493309,
|
| 671 |
+
-9.163692973246706
|
| 672 |
+
],
|
| 673 |
+
"type": "go straight",
|
| 674 |
+
"value": 3,
|
| 675 |
+
"yaw": -2.0943951023931953
|
| 676 |
+
}
|
| 677 |
+
}
|
| 678 |
+
{
|
| 679 |
+
"action": {
|
| 680 |
+
"imageid": 52,
|
| 681 |
+
"pos": [
|
| 682 |
+
440.7538916104997,
|
| 683 |
+
-573.9749454606842,
|
| 684 |
+
-9.163692973246706
|
| 685 |
+
],
|
| 686 |
+
"type": "go straight",
|
| 687 |
+
"value": 3,
|
| 688 |
+
"yaw": -2.094395102393186
|
| 689 |
+
}
|
| 690 |
+
}
|
| 691 |
+
{
|
| 692 |
+
"action": {
|
| 693 |
+
"imageid": 53,
|
| 694 |
+
"pos": [
|
| 695 |
+
439.2538916104997,
|
| 696 |
+
-576.5730216720376,
|
| 697 |
+
-9.163692973246706
|
| 698 |
+
],
|
| 699 |
+
"type": "stop",
|
| 700 |
+
"value": 0,
|
| 701 |
+
"yaw": -2.094395102393186
|
| 702 |
+
}
|
| 703 |
+
}
|
| 704 |
+
{
|
| 705 |
+
"aim_landmark": {
|
| 706 |
+
"color": "test",
|
| 707 |
+
"feature": "test",
|
| 708 |
+
"position": [
|
| 709 |
+
437.9839408874512,
|
| 710 |
+
-578.2894577026368,
|
| 711 |
+
0.0
|
| 712 |
+
],
|
| 713 |
+
"shape": "test",
|
| 714 |
+
"size": "test",
|
| 715 |
+
"type": "building"
|
| 716 |
+
}
|
| 717 |
+
}
|
Image/env_gs_nwpu02/astar_data/long/2025-1-16_13-58-0_1025202362/pose.jsonl
ADDED
|
@@ -0,0 +1,548 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
441.09128974035633,
|
| 6 |
+
-318.9624135855206,
|
| 7 |
+
-4.945790378399658
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 2.0943951023931953
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
439.59128974035633,
|
| 19 |
+
-316.3643373741673,
|
| 20 |
+
-4.945790378399658
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 2.0943951023931953
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
438.09128974035633,
|
| 32 |
+
-313.766261162814,
|
| 33 |
+
-4.945790378399658
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 2.0943951023931953
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
436.59128974035633,
|
| 45 |
+
-311.16818495146066,
|
| 46 |
+
-4.945790378399658
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 2.0943951023931953
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
435.09128974035633,
|
| 58 |
+
-308.57010874010734,
|
| 59 |
+
-4.945790378399658
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 2.0943951023931953
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
433.59128974035633,
|
| 71 |
+
-305.972032528754,
|
| 72 |
+
-4.945790378399658
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 2.0943951023931953
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
432.09128974035633,
|
| 84 |
+
-303.3739563174007,
|
| 85 |
+
-4.945790378399658
|
| 86 |
+
],
|
| 87 |
+
"type": "turn right",
|
| 88 |
+
"value": 30,
|
| 89 |
+
"yaw": 2.0943951023931953
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
432.09128974035633,
|
| 97 |
+
-303.3739563174007,
|
| 98 |
+
-4.945790378399658
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 1.5707963267948966
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
432.09128974035633,
|
| 110 |
+
-300.3739563174007,
|
| 111 |
+
-4.945790378399658
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 1.5707963267948966
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
432.09128974035633,
|
| 123 |
+
-297.3739563174007,
|
| 124 |
+
-4.945790378399658
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 1.5707963267948966
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
432.09128974035633,
|
| 136 |
+
-294.3739563174007,
|
| 137 |
+
-4.945790378399658
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 1.5707963267948966
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"aim_landmark": {
|
| 146 |
+
"color": "test",
|
| 147 |
+
"feature": "test",
|
| 148 |
+
"position": [
|
| 149 |
+
417.240055847168,
|
| 150 |
+
-253.0383457183838,
|
| 151 |
+
0.0
|
| 152 |
+
],
|
| 153 |
+
"shape": "test",
|
| 154 |
+
"size": "test",
|
| 155 |
+
"type": "building"
|
| 156 |
+
}
|
| 157 |
+
}
|
| 158 |
+
{
|
| 159 |
+
"action": {
|
| 160 |
+
"imageid": 12,
|
| 161 |
+
"pos": [
|
| 162 |
+
432.09128974035633,
|
| 163 |
+
-291.3739563174007,
|
| 164 |
+
-4.945790378399658
|
| 165 |
+
],
|
| 166 |
+
"type": "turn left",
|
| 167 |
+
"value": 30,
|
| 168 |
+
"yaw": 1.5707963267948966
|
| 169 |
+
}
|
| 170 |
+
}
|
| 171 |
+
{
|
| 172 |
+
"action": {
|
| 173 |
+
"imageid": 13,
|
| 174 |
+
"pos": [
|
| 175 |
+
432.09128974035633,
|
| 176 |
+
-291.3739563174007,
|
| 177 |
+
-4.945790378399658
|
| 178 |
+
],
|
| 179 |
+
"type": "turn left",
|
| 180 |
+
"value": 30,
|
| 181 |
+
"yaw": 2.0943951023931953
|
| 182 |
+
}
|
| 183 |
+
}
|
| 184 |
+
{
|
| 185 |
+
"action": {
|
| 186 |
+
"imageid": 14,
|
| 187 |
+
"pos": [
|
| 188 |
+
432.09128974035633,
|
| 189 |
+
-291.3739563174007,
|
| 190 |
+
-4.945790378399658
|
| 191 |
+
],
|
| 192 |
+
"type": "turn left",
|
| 193 |
+
"value": 30,
|
| 194 |
+
"yaw": 2.617993877991494
|
| 195 |
+
}
|
| 196 |
+
}
|
| 197 |
+
{
|
| 198 |
+
"action": {
|
| 199 |
+
"imageid": 15,
|
| 200 |
+
"pos": [
|
| 201 |
+
432.09128974035633,
|
| 202 |
+
-291.3739563174007,
|
| 203 |
+
-4.945790378399658
|
| 204 |
+
],
|
| 205 |
+
"type": "turn left",
|
| 206 |
+
"value": 30,
|
| 207 |
+
"yaw": 3.141592653589793
|
| 208 |
+
}
|
| 209 |
+
}
|
| 210 |
+
{
|
| 211 |
+
"action": {
|
| 212 |
+
"imageid": 16,
|
| 213 |
+
"pos": [
|
| 214 |
+
432.09128974035633,
|
| 215 |
+
-291.3739563174007,
|
| 216 |
+
-4.945790378399658
|
| 217 |
+
],
|
| 218 |
+
"type": "go straight",
|
| 219 |
+
"value": 3,
|
| 220 |
+
"yaw": 3.141592653589793
|
| 221 |
+
}
|
| 222 |
+
}
|
| 223 |
+
{
|
| 224 |
+
"action": {
|
| 225 |
+
"imageid": 17,
|
| 226 |
+
"pos": [
|
| 227 |
+
429.09128974035633,
|
| 228 |
+
-291.3739563174007,
|
| 229 |
+
-4.945790378399658
|
| 230 |
+
],
|
| 231 |
+
"type": "go straight",
|
| 232 |
+
"value": 3,
|
| 233 |
+
"yaw": 3.141592653589793
|
| 234 |
+
}
|
| 235 |
+
}
|
| 236 |
+
{
|
| 237 |
+
"action": {
|
| 238 |
+
"imageid": 18,
|
| 239 |
+
"pos": [
|
| 240 |
+
426.09128974035633,
|
| 241 |
+
-291.3739563174007,
|
| 242 |
+
-4.945790378399658
|
| 243 |
+
],
|
| 244 |
+
"type": "go straight",
|
| 245 |
+
"value": 3,
|
| 246 |
+
"yaw": 3.141592653589793
|
| 247 |
+
}
|
| 248 |
+
}
|
| 249 |
+
{
|
| 250 |
+
"action": {
|
| 251 |
+
"imageid": 19,
|
| 252 |
+
"pos": [
|
| 253 |
+
423.09128974035633,
|
| 254 |
+
-291.3739563174007,
|
| 255 |
+
-4.945790378399658
|
| 256 |
+
],
|
| 257 |
+
"type": "go straight",
|
| 258 |
+
"value": 3,
|
| 259 |
+
"yaw": 3.141592653589793
|
| 260 |
+
}
|
| 261 |
+
}
|
| 262 |
+
{
|
| 263 |
+
"action": {
|
| 264 |
+
"imageid": 20,
|
| 265 |
+
"pos": [
|
| 266 |
+
420.09128974035633,
|
| 267 |
+
-291.3739563174007,
|
| 268 |
+
-4.945790378399658
|
| 269 |
+
],
|
| 270 |
+
"type": "go straight",
|
| 271 |
+
"value": 3,
|
| 272 |
+
"yaw": 3.141592653589793
|
| 273 |
+
}
|
| 274 |
+
}
|
| 275 |
+
{
|
| 276 |
+
"action": {
|
| 277 |
+
"imageid": 21,
|
| 278 |
+
"pos": [
|
| 279 |
+
417.09128974035633,
|
| 280 |
+
-291.3739563174007,
|
| 281 |
+
-4.945790378399658
|
| 282 |
+
],
|
| 283 |
+
"type": "go straight",
|
| 284 |
+
"value": 3,
|
| 285 |
+
"yaw": 3.141592653589793
|
| 286 |
+
}
|
| 287 |
+
}
|
| 288 |
+
{
|
| 289 |
+
"action": {
|
| 290 |
+
"imageid": 22,
|
| 291 |
+
"pos": [
|
| 292 |
+
414.09128974035633,
|
| 293 |
+
-291.3739563174007,
|
| 294 |
+
-4.945790378399658
|
| 295 |
+
],
|
| 296 |
+
"type": "go straight",
|
| 297 |
+
"value": 3,
|
| 298 |
+
"yaw": 3.141592653589793
|
| 299 |
+
}
|
| 300 |
+
}
|
| 301 |
+
{
|
| 302 |
+
"action": {
|
| 303 |
+
"imageid": 23,
|
| 304 |
+
"pos": [
|
| 305 |
+
411.09128974035633,
|
| 306 |
+
-291.3739563174007,
|
| 307 |
+
-4.945790378399658
|
| 308 |
+
],
|
| 309 |
+
"type": "go straight",
|
| 310 |
+
"value": 3,
|
| 311 |
+
"yaw": 3.141592653589793
|
| 312 |
+
}
|
| 313 |
+
}
|
| 314 |
+
{
|
| 315 |
+
"action": {
|
| 316 |
+
"imageid": 24,
|
| 317 |
+
"pos": [
|
| 318 |
+
408.09128974035633,
|
| 319 |
+
-291.3739563174007,
|
| 320 |
+
-4.945790378399658
|
| 321 |
+
],
|
| 322 |
+
"type": "go straight",
|
| 323 |
+
"value": 3,
|
| 324 |
+
"yaw": 3.141592653589793
|
| 325 |
+
}
|
| 326 |
+
}
|
| 327 |
+
{
|
| 328 |
+
"action": {
|
| 329 |
+
"imageid": 25,
|
| 330 |
+
"pos": [
|
| 331 |
+
405.09128974035633,
|
| 332 |
+
-291.3739563174007,
|
| 333 |
+
-4.945790378399658
|
| 334 |
+
],
|
| 335 |
+
"type": "go straight",
|
| 336 |
+
"value": 3,
|
| 337 |
+
"yaw": 3.141592653589793
|
| 338 |
+
}
|
| 339 |
+
}
|
| 340 |
+
{
|
| 341 |
+
"action": {
|
| 342 |
+
"imageid": 26,
|
| 343 |
+
"pos": [
|
| 344 |
+
402.09128974035633,
|
| 345 |
+
-291.3739563174007,
|
| 346 |
+
-4.945790378399658
|
| 347 |
+
],
|
| 348 |
+
"type": "go straight",
|
| 349 |
+
"value": 3,
|
| 350 |
+
"yaw": 3.141592653589793
|
| 351 |
+
}
|
| 352 |
+
}
|
| 353 |
+
{
|
| 354 |
+
"action": {
|
| 355 |
+
"imageid": 27,
|
| 356 |
+
"pos": [
|
| 357 |
+
399.09128974035633,
|
| 358 |
+
-291.3739563174007,
|
| 359 |
+
-4.945790378399658
|
| 360 |
+
],
|
| 361 |
+
"type": "go straight",
|
| 362 |
+
"value": 3,
|
| 363 |
+
"yaw": 3.141592653589793
|
| 364 |
+
}
|
| 365 |
+
}
|
| 366 |
+
{
|
| 367 |
+
"action": {
|
| 368 |
+
"imageid": 28,
|
| 369 |
+
"pos": [
|
| 370 |
+
396.09128974035633,
|
| 371 |
+
-291.3739563174007,
|
| 372 |
+
-4.945790378399658
|
| 373 |
+
],
|
| 374 |
+
"type": "go straight",
|
| 375 |
+
"value": 3,
|
| 376 |
+
"yaw": 3.141592653589793
|
| 377 |
+
}
|
| 378 |
+
}
|
| 379 |
+
{
|
| 380 |
+
"action": {
|
| 381 |
+
"imageid": 29,
|
| 382 |
+
"pos": [
|
| 383 |
+
393.09128974035633,
|
| 384 |
+
-291.3739563174007,
|
| 385 |
+
-4.945790378399658
|
| 386 |
+
],
|
| 387 |
+
"type": "go straight",
|
| 388 |
+
"value": 3,
|
| 389 |
+
"yaw": 3.141592653589793
|
| 390 |
+
}
|
| 391 |
+
}
|
| 392 |
+
{
|
| 393 |
+
"action": {
|
| 394 |
+
"imageid": 30,
|
| 395 |
+
"pos": [
|
| 396 |
+
390.09128974035633,
|
| 397 |
+
-291.3739563174007,
|
| 398 |
+
-4.945790378399658
|
| 399 |
+
],
|
| 400 |
+
"type": "go straight",
|
| 401 |
+
"value": 3,
|
| 402 |
+
"yaw": 3.141592653589793
|
| 403 |
+
}
|
| 404 |
+
}
|
| 405 |
+
{
|
| 406 |
+
"action": {
|
| 407 |
+
"imageid": 31,
|
| 408 |
+
"pos": [
|
| 409 |
+
387.09128974035633,
|
| 410 |
+
-291.3739563174007,
|
| 411 |
+
-4.945790378399658
|
| 412 |
+
],
|
| 413 |
+
"type": "go straight",
|
| 414 |
+
"value": 3,
|
| 415 |
+
"yaw": 3.141592653589793
|
| 416 |
+
}
|
| 417 |
+
}
|
| 418 |
+
{
|
| 419 |
+
"action": {
|
| 420 |
+
"imageid": 32,
|
| 421 |
+
"pos": [
|
| 422 |
+
384.09128974035633,
|
| 423 |
+
-291.3739563174007,
|
| 424 |
+
-4.945790378399658
|
| 425 |
+
],
|
| 426 |
+
"type": "go straight",
|
| 427 |
+
"value": 3,
|
| 428 |
+
"yaw": 3.141592653589793
|
| 429 |
+
}
|
| 430 |
+
}
|
| 431 |
+
{
|
| 432 |
+
"action": {
|
| 433 |
+
"imageid": 33,
|
| 434 |
+
"pos": [
|
| 435 |
+
381.09128974035633,
|
| 436 |
+
-291.3739563174007,
|
| 437 |
+
-4.945790378399658
|
| 438 |
+
],
|
| 439 |
+
"type": "turn right",
|
| 440 |
+
"value": 30,
|
| 441 |
+
"yaw": 3.141592653589793
|
| 442 |
+
}
|
| 443 |
+
}
|
| 444 |
+
{
|
| 445 |
+
"action": {
|
| 446 |
+
"imageid": 34,
|
| 447 |
+
"pos": [
|
| 448 |
+
381.09128974035633,
|
| 449 |
+
-291.3739563174007,
|
| 450 |
+
-4.945790378399658
|
| 451 |
+
],
|
| 452 |
+
"type": "go straight",
|
| 453 |
+
"value": 3,
|
| 454 |
+
"yaw": 2.6179938779914944
|
| 455 |
+
}
|
| 456 |
+
}
|
| 457 |
+
{
|
| 458 |
+
"action": {
|
| 459 |
+
"imageid": 35,
|
| 460 |
+
"pos": [
|
| 461 |
+
378.493213529003,
|
| 462 |
+
-289.8739563174007,
|
| 463 |
+
-4.945790378399658
|
| 464 |
+
],
|
| 465 |
+
"type": "go straight",
|
| 466 |
+
"value": 3,
|
| 467 |
+
"yaw": 2.6179938779914944
|
| 468 |
+
}
|
| 469 |
+
}
|
| 470 |
+
{
|
| 471 |
+
"action": {
|
| 472 |
+
"imageid": 36,
|
| 473 |
+
"pos": [
|
| 474 |
+
375.8951373176497,
|
| 475 |
+
-288.3739563174007,
|
| 476 |
+
-4.945790378399658
|
| 477 |
+
],
|
| 478 |
+
"type": "turn right",
|
| 479 |
+
"value": 30,
|
| 480 |
+
"yaw": 2.6179938779914944
|
| 481 |
+
}
|
| 482 |
+
}
|
| 483 |
+
{
|
| 484 |
+
"action": {
|
| 485 |
+
"imageid": 37,
|
| 486 |
+
"pos": [
|
| 487 |
+
375.8951373176497,
|
| 488 |
+
-288.3739563174007,
|
| 489 |
+
-4.945790378399658
|
| 490 |
+
],
|
| 491 |
+
"type": "go straight",
|
| 492 |
+
"value": 3,
|
| 493 |
+
"yaw": 2.0943951023931957
|
| 494 |
+
}
|
| 495 |
+
}
|
| 496 |
+
{
|
| 497 |
+
"action": {
|
| 498 |
+
"imageid": 38,
|
| 499 |
+
"pos": [
|
| 500 |
+
374.3951373176497,
|
| 501 |
+
-285.7758801060474,
|
| 502 |
+
-4.945790378399658
|
| 503 |
+
],
|
| 504 |
+
"type": "go straight",
|
| 505 |
+
"value": 3,
|
| 506 |
+
"yaw": 2.0943951023931953
|
| 507 |
+
}
|
| 508 |
+
}
|
| 509 |
+
{
|
| 510 |
+
"action": {
|
| 511 |
+
"imageid": 39,
|
| 512 |
+
"pos": [
|
| 513 |
+
372.8951373176497,
|
| 514 |
+
-283.1778038946941,
|
| 515 |
+
-4.945790378399658
|
| 516 |
+
],
|
| 517 |
+
"type": "go straight",
|
| 518 |
+
"value": 3,
|
| 519 |
+
"yaw": 2.0943951023931953
|
| 520 |
+
}
|
| 521 |
+
}
|
| 522 |
+
{
|
| 523 |
+
"action": {
|
| 524 |
+
"imageid": 40,
|
| 525 |
+
"pos": [
|
| 526 |
+
371.3951373176497,
|
| 527 |
+
-280.57972768334076,
|
| 528 |
+
-4.945790378399658
|
| 529 |
+
],
|
| 530 |
+
"type": "stop",
|
| 531 |
+
"value": 0,
|
| 532 |
+
"yaw": 2.0943951023931953
|
| 533 |
+
}
|
| 534 |
+
}
|
| 535 |
+
{
|
| 536 |
+
"aim_landmark": {
|
| 537 |
+
"color": "test",
|
| 538 |
+
"feature": "test",
|
| 539 |
+
"position": [
|
| 540 |
+
368.39450302124027,
|
| 541 |
+
-279.85243492126466,
|
| 542 |
+
0.0
|
| 543 |
+
],
|
| 544 |
+
"shape": "test",
|
| 545 |
+
"size": "test",
|
| 546 |
+
"type": "building"
|
| 547 |
+
}
|
| 548 |
+
}
|
Image/env_gs_nwpu02/astar_data/long/2025-1-16_13-59-7_1102520059/pose.jsonl
ADDED
|
@@ -0,0 +1,626 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
1234.9791698975357,
|
| 6 |
+
-177.7823719426166,
|
| 7 |
+
-4.465250902772774
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -1.0471975511965979
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
1236.4791698975357,
|
| 19 |
+
-180.38044815396992,
|
| 20 |
+
-4.465250902772774
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -1.0471975511965979
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
1237.9791698975357,
|
| 32 |
+
-182.97852436532324,
|
| 33 |
+
-4.465250902772774
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -1.0471975511965979
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
1239.4791698975357,
|
| 45 |
+
-185.57660057667655,
|
| 46 |
+
-4.465250902772774
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -1.0471975511965979
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
1240.9791698975357,
|
| 58 |
+
-188.17467678802987,
|
| 59 |
+
-4.465250902772774
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -1.0471975511965979
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
1242.4791698975357,
|
| 71 |
+
-190.7727529993832,
|
| 72 |
+
-4.465250902772774
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -1.0471975511965979
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
1243.9791698975357,
|
| 84 |
+
-193.3708292107365,
|
| 85 |
+
-4.465250902772774
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -1.0471975511965979
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
1245.4791698975357,
|
| 97 |
+
-195.96890542208982,
|
| 98 |
+
-4.465250902772774
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -1.0471975511965979
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
1246.9791698975357,
|
| 110 |
+
-198.56698163344313,
|
| 111 |
+
-4.465250902772774
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -1.0471975511965979
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
1248.4791698975357,
|
| 123 |
+
-201.16505784479645,
|
| 124 |
+
-4.465250902772774
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -1.0471975511965979
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
1249.9791698975357,
|
| 136 |
+
-203.76313405614977,
|
| 137 |
+
-4.465250902772774
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -1.0471975511965979
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
1251.4791698975357,
|
| 149 |
+
-206.36121026750308,
|
| 150 |
+
-4.465250902772774
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -1.0471975511965979
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
1252.9791698975357,
|
| 162 |
+
-208.9592864788564,
|
| 163 |
+
-4.465250902772774
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -1.0471975511965979
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
1254.4791698975357,
|
| 175 |
+
-211.55736269020971,
|
| 176 |
+
-4.465250902772774
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -1.0471975511965979
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
1255.9791698975357,
|
| 188 |
+
-214.15543890156303,
|
| 189 |
+
-4.465250902772774
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -1.0471975511965979
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
1257.4791698975357,
|
| 201 |
+
-216.75351511291635,
|
| 202 |
+
-4.465250902772774
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -1.0471975511965979
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
1258.9791698975357,
|
| 214 |
+
-219.35159132426966,
|
| 215 |
+
-4.465250902772774
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -1.0471975511965979
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
1260.4791698975357,
|
| 227 |
+
-221.94966753562298,
|
| 228 |
+
-4.465250902772774
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": -1.0471975511965979
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
1261.9791698975357,
|
| 240 |
+
-224.5477437469763,
|
| 241 |
+
-4.465250902772774
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": -1.0471975511965979
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
1263.4791698975357,
|
| 253 |
+
-227.1458199583296,
|
| 254 |
+
-4.465250902772774
|
| 255 |
+
],
|
| 256 |
+
"type": "turn left",
|
| 257 |
+
"value": 30,
|
| 258 |
+
"yaw": -1.0471975511965979
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
1263.4791698975357,
|
| 266 |
+
-227.1458199583296,
|
| 267 |
+
-4.465250902772774
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": -0.523598775598299
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
1266.077246108889,
|
| 279 |
+
-228.6458199583296,
|
| 280 |
+
-4.465250902772774
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": -0.5235987755982894
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
1268.6753223202425,
|
| 292 |
+
-230.1458199583296,
|
| 293 |
+
-4.465250902772774
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": -0.5235987755982894
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"aim_landmark": {
|
| 302 |
+
"color": "test",
|
| 303 |
+
"feature": "test",
|
| 304 |
+
"position": [
|
| 305 |
+
1273.901252746582,
|
| 306 |
+
-233.9151123046875,
|
| 307 |
+
0.0
|
| 308 |
+
],
|
| 309 |
+
"shape": "test",
|
| 310 |
+
"size": "test",
|
| 311 |
+
"type": "building"
|
| 312 |
+
}
|
| 313 |
+
}
|
| 314 |
+
{
|
| 315 |
+
"action": {
|
| 316 |
+
"imageid": 24,
|
| 317 |
+
"pos": [
|
| 318 |
+
1271.2733985315958,
|
| 319 |
+
-231.6458199583296,
|
| 320 |
+
-4.465250902772774
|
| 321 |
+
],
|
| 322 |
+
"type": "turn left",
|
| 323 |
+
"value": 30,
|
| 324 |
+
"yaw": -0.5235987755982894
|
| 325 |
+
}
|
| 326 |
+
}
|
| 327 |
+
{
|
| 328 |
+
"action": {
|
| 329 |
+
"imageid": 25,
|
| 330 |
+
"pos": [
|
| 331 |
+
1271.2733985315958,
|
| 332 |
+
-231.6458199583296,
|
| 333 |
+
-4.465250902772774
|
| 334 |
+
],
|
| 335 |
+
"type": "go straight",
|
| 336 |
+
"value": 3,
|
| 337 |
+
"yaw": 0.0
|
| 338 |
+
}
|
| 339 |
+
}
|
| 340 |
+
{
|
| 341 |
+
"action": {
|
| 342 |
+
"imageid": 26,
|
| 343 |
+
"pos": [
|
| 344 |
+
1274.2733985315958,
|
| 345 |
+
-231.6458199583296,
|
| 346 |
+
-4.465250902772774
|
| 347 |
+
],
|
| 348 |
+
"type": "go straight",
|
| 349 |
+
"value": 3,
|
| 350 |
+
"yaw": 0.0
|
| 351 |
+
}
|
| 352 |
+
}
|
| 353 |
+
{
|
| 354 |
+
"action": {
|
| 355 |
+
"imageid": 27,
|
| 356 |
+
"pos": [
|
| 357 |
+
1277.2733985315958,
|
| 358 |
+
-231.6458199583296,
|
| 359 |
+
-4.465250902772774
|
| 360 |
+
],
|
| 361 |
+
"type": "go straight",
|
| 362 |
+
"value": 3,
|
| 363 |
+
"yaw": 0.0
|
| 364 |
+
}
|
| 365 |
+
}
|
| 366 |
+
{
|
| 367 |
+
"action": {
|
| 368 |
+
"imageid": 28,
|
| 369 |
+
"pos": [
|
| 370 |
+
1280.2733985315958,
|
| 371 |
+
-231.6458199583296,
|
| 372 |
+
-4.465250902772774
|
| 373 |
+
],
|
| 374 |
+
"type": "go straight",
|
| 375 |
+
"value": 3,
|
| 376 |
+
"yaw": 0.0
|
| 377 |
+
}
|
| 378 |
+
}
|
| 379 |
+
{
|
| 380 |
+
"action": {
|
| 381 |
+
"imageid": 29,
|
| 382 |
+
"pos": [
|
| 383 |
+
1283.2733985315958,
|
| 384 |
+
-231.6458199583296,
|
| 385 |
+
-4.465250902772774
|
| 386 |
+
],
|
| 387 |
+
"type": "go straight",
|
| 388 |
+
"value": 3,
|
| 389 |
+
"yaw": 0.0
|
| 390 |
+
}
|
| 391 |
+
}
|
| 392 |
+
{
|
| 393 |
+
"action": {
|
| 394 |
+
"imageid": 30,
|
| 395 |
+
"pos": [
|
| 396 |
+
1286.2733985315958,
|
| 397 |
+
-231.6458199583296,
|
| 398 |
+
-4.465250902772774
|
| 399 |
+
],
|
| 400 |
+
"type": "go straight",
|
| 401 |
+
"value": 3,
|
| 402 |
+
"yaw": 0.0
|
| 403 |
+
}
|
| 404 |
+
}
|
| 405 |
+
{
|
| 406 |
+
"action": {
|
| 407 |
+
"imageid": 31,
|
| 408 |
+
"pos": [
|
| 409 |
+
1289.2733985315958,
|
| 410 |
+
-231.6458199583296,
|
| 411 |
+
-4.465250902772774
|
| 412 |
+
],
|
| 413 |
+
"type": "go straight",
|
| 414 |
+
"value": 3,
|
| 415 |
+
"yaw": 0.0
|
| 416 |
+
}
|
| 417 |
+
}
|
| 418 |
+
{
|
| 419 |
+
"action": {
|
| 420 |
+
"imageid": 32,
|
| 421 |
+
"pos": [
|
| 422 |
+
1292.2733985315958,
|
| 423 |
+
-231.6458199583296,
|
| 424 |
+
-4.465250902772774
|
| 425 |
+
],
|
| 426 |
+
"type": "go straight",
|
| 427 |
+
"value": 3,
|
| 428 |
+
"yaw": 0.0
|
| 429 |
+
}
|
| 430 |
+
}
|
| 431 |
+
{
|
| 432 |
+
"action": {
|
| 433 |
+
"imageid": 33,
|
| 434 |
+
"pos": [
|
| 435 |
+
1295.2733985315958,
|
| 436 |
+
-231.6458199583296,
|
| 437 |
+
-4.465250902772774
|
| 438 |
+
],
|
| 439 |
+
"type": "go straight",
|
| 440 |
+
"value": 3,
|
| 441 |
+
"yaw": 0.0
|
| 442 |
+
}
|
| 443 |
+
}
|
| 444 |
+
{
|
| 445 |
+
"action": {
|
| 446 |
+
"imageid": 34,
|
| 447 |
+
"pos": [
|
| 448 |
+
1298.2733985315958,
|
| 449 |
+
-231.6458199583296,
|
| 450 |
+
-4.465250902772774
|
| 451 |
+
],
|
| 452 |
+
"type": "go straight",
|
| 453 |
+
"value": 3,
|
| 454 |
+
"yaw": 0.0
|
| 455 |
+
}
|
| 456 |
+
}
|
| 457 |
+
{
|
| 458 |
+
"action": {
|
| 459 |
+
"imageid": 35,
|
| 460 |
+
"pos": [
|
| 461 |
+
1301.2733985315958,
|
| 462 |
+
-231.6458199583296,
|
| 463 |
+
-4.465250902772774
|
| 464 |
+
],
|
| 465 |
+
"type": "go straight",
|
| 466 |
+
"value": 3,
|
| 467 |
+
"yaw": 0.0
|
| 468 |
+
}
|
| 469 |
+
}
|
| 470 |
+
{
|
| 471 |
+
"action": {
|
| 472 |
+
"imageid": 36,
|
| 473 |
+
"pos": [
|
| 474 |
+
1304.2733985315958,
|
| 475 |
+
-231.6458199583296,
|
| 476 |
+
-4.465250902772774
|
| 477 |
+
],
|
| 478 |
+
"type": "go straight",
|
| 479 |
+
"value": 3,
|
| 480 |
+
"yaw": 0.0
|
| 481 |
+
}
|
| 482 |
+
}
|
| 483 |
+
{
|
| 484 |
+
"action": {
|
| 485 |
+
"imageid": 37,
|
| 486 |
+
"pos": [
|
| 487 |
+
1307.2733985315958,
|
| 488 |
+
-231.6458199583296,
|
| 489 |
+
-4.465250902772774
|
| 490 |
+
],
|
| 491 |
+
"type": "go straight",
|
| 492 |
+
"value": 3,
|
| 493 |
+
"yaw": 0.0
|
| 494 |
+
}
|
| 495 |
+
}
|
| 496 |
+
{
|
| 497 |
+
"action": {
|
| 498 |
+
"imageid": 38,
|
| 499 |
+
"pos": [
|
| 500 |
+
1310.2733985315958,
|
| 501 |
+
-231.6458199583296,
|
| 502 |
+
-4.465250902772774
|
| 503 |
+
],
|
| 504 |
+
"type": "go straight",
|
| 505 |
+
"value": 3,
|
| 506 |
+
"yaw": 0.0
|
| 507 |
+
}
|
| 508 |
+
}
|
| 509 |
+
{
|
| 510 |
+
"action": {
|
| 511 |
+
"imageid": 39,
|
| 512 |
+
"pos": [
|
| 513 |
+
1313.2733985315958,
|
| 514 |
+
-231.6458199583296,
|
| 515 |
+
-4.465250902772774
|
| 516 |
+
],
|
| 517 |
+
"type": "go straight",
|
| 518 |
+
"value": 3,
|
| 519 |
+
"yaw": 0.0
|
| 520 |
+
}
|
| 521 |
+
}
|
| 522 |
+
{
|
| 523 |
+
"action": {
|
| 524 |
+
"imageid": 40,
|
| 525 |
+
"pos": [
|
| 526 |
+
1316.2733985315958,
|
| 527 |
+
-231.6458199583296,
|
| 528 |
+
-4.465250902772774
|
| 529 |
+
],
|
| 530 |
+
"type": "go straight",
|
| 531 |
+
"value": 3,
|
| 532 |
+
"yaw": 0.0
|
| 533 |
+
}
|
| 534 |
+
}
|
| 535 |
+
{
|
| 536 |
+
"action": {
|
| 537 |
+
"imageid": 41,
|
| 538 |
+
"pos": [
|
| 539 |
+
1319.2733985315958,
|
| 540 |
+
-231.6458199583296,
|
| 541 |
+
-4.465250902772774
|
| 542 |
+
],
|
| 543 |
+
"type": "go straight",
|
| 544 |
+
"value": 3,
|
| 545 |
+
"yaw": 0.0
|
| 546 |
+
}
|
| 547 |
+
}
|
| 548 |
+
{
|
| 549 |
+
"action": {
|
| 550 |
+
"imageid": 42,
|
| 551 |
+
"pos": [
|
| 552 |
+
1322.2733985315958,
|
| 553 |
+
-231.6458199583296,
|
| 554 |
+
-4.465250902772774
|
| 555 |
+
],
|
| 556 |
+
"type": "go straight",
|
| 557 |
+
"value": 3,
|
| 558 |
+
"yaw": 0.0
|
| 559 |
+
}
|
| 560 |
+
}
|
| 561 |
+
{
|
| 562 |
+
"action": {
|
| 563 |
+
"imageid": 43,
|
| 564 |
+
"pos": [
|
| 565 |
+
1325.2733985315958,
|
| 566 |
+
-231.6458199583296,
|
| 567 |
+
-4.465250902772774
|
| 568 |
+
],
|
| 569 |
+
"type": "turn left",
|
| 570 |
+
"value": 30,
|
| 571 |
+
"yaw": 0.0
|
| 572 |
+
}
|
| 573 |
+
}
|
| 574 |
+
{
|
| 575 |
+
"action": {
|
| 576 |
+
"imageid": 44,
|
| 577 |
+
"pos": [
|
| 578 |
+
1325.2733985315958,
|
| 579 |
+
-231.6458199583296,
|
| 580 |
+
-4.465250902772774
|
| 581 |
+
],
|
| 582 |
+
"type": "go straight",
|
| 583 |
+
"value": 3,
|
| 584 |
+
"yaw": 0.5235987755982988
|
| 585 |
+
}
|
| 586 |
+
}
|
| 587 |
+
{
|
| 588 |
+
"action": {
|
| 589 |
+
"imageid": 45,
|
| 590 |
+
"pos": [
|
| 591 |
+
1327.8714747429492,
|
| 592 |
+
-230.1458199583296,
|
| 593 |
+
-4.465250902772774
|
| 594 |
+
],
|
| 595 |
+
"type": "go straight",
|
| 596 |
+
"value": 3,
|
| 597 |
+
"yaw": 0.5235987755982894
|
| 598 |
+
}
|
| 599 |
+
}
|
| 600 |
+
{
|
| 601 |
+
"action": {
|
| 602 |
+
"imageid": 46,
|
| 603 |
+
"pos": [
|
| 604 |
+
1330.4695509543026,
|
| 605 |
+
-228.6458199583296,
|
| 606 |
+
-4.465250902772774
|
| 607 |
+
],
|
| 608 |
+
"type": "stop",
|
| 609 |
+
"value": 0,
|
| 610 |
+
"yaw": 0.5235987755982894
|
| 611 |
+
}
|
| 612 |
+
}
|
| 613 |
+
{
|
| 614 |
+
"aim_landmark": {
|
| 615 |
+
"color": "test",
|
| 616 |
+
"feature": "test",
|
| 617 |
+
"position": [
|
| 618 |
+
1332.318264770508,
|
| 619 |
+
-228.70366058349612,
|
| 620 |
+
0.0
|
| 621 |
+
],
|
| 622 |
+
"shape": "test",
|
| 623 |
+
"size": "test",
|
| 624 |
+
"type": "building"
|
| 625 |
+
}
|
| 626 |
+
}
|
Image/env_gs_nwpu02/astar_data/long/2025-1-16_14-1-21_1365180540/pose.jsonl
ADDED
|
@@ -0,0 +1,418 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
323.7299798386529,
|
| 6 |
+
-79.8754466957962,
|
| 7 |
+
-4.437717397568846
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -1.5707963267948966
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
323.7299798386529,
|
| 19 |
+
-82.8754466957962,
|
| 20 |
+
-4.437717397568846
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -1.5707963267948966
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
323.7299798386529,
|
| 32 |
+
-85.8754466957962,
|
| 33 |
+
-4.437717397568846
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -1.5707963267948966
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
323.7299798386529,
|
| 45 |
+
-88.8754466957962,
|
| 46 |
+
-4.437717397568846
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -1.5707963267948966
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
323.7299798386529,
|
| 58 |
+
-91.8754466957962,
|
| 59 |
+
-4.437717397568846
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -1.5707963267948966
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
323.7299798386529,
|
| 71 |
+
-94.8754466957962,
|
| 72 |
+
-4.437717397568846
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -1.5707963267948966
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
323.7299798386529,
|
| 84 |
+
-97.8754466957962,
|
| 85 |
+
-4.437717397568846
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -1.5707963267948966
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"aim_landmark": {
|
| 94 |
+
"color": "test",
|
| 95 |
+
"feature": "test",
|
| 96 |
+
"position": [
|
| 97 |
+
320.9684103012085,
|
| 98 |
+
-137.41820926666261,
|
| 99 |
+
0.0
|
| 100 |
+
],
|
| 101 |
+
"shape": "test",
|
| 102 |
+
"size": "test",
|
| 103 |
+
"type": "building"
|
| 104 |
+
}
|
| 105 |
+
}
|
| 106 |
+
{
|
| 107 |
+
"action": {
|
| 108 |
+
"imageid": 8,
|
| 109 |
+
"pos": [
|
| 110 |
+
323.7299798386529,
|
| 111 |
+
-100.8754466957962,
|
| 112 |
+
-4.437717397568846
|
| 113 |
+
],
|
| 114 |
+
"type": "turn left",
|
| 115 |
+
"value": 30,
|
| 116 |
+
"yaw": -1.5707963267948966
|
| 117 |
+
}
|
| 118 |
+
}
|
| 119 |
+
{
|
| 120 |
+
"action": {
|
| 121 |
+
"imageid": 9,
|
| 122 |
+
"pos": [
|
| 123 |
+
323.7299798386529,
|
| 124 |
+
-100.8754466957962,
|
| 125 |
+
-4.437717397568846
|
| 126 |
+
],
|
| 127 |
+
"type": "turn left",
|
| 128 |
+
"value": 30,
|
| 129 |
+
"yaw": -1.0471975511965979
|
| 130 |
+
}
|
| 131 |
+
}
|
| 132 |
+
{
|
| 133 |
+
"action": {
|
| 134 |
+
"imageid": 10,
|
| 135 |
+
"pos": [
|
| 136 |
+
323.7299798386529,
|
| 137 |
+
-100.8754466957962,
|
| 138 |
+
-4.437717397568846
|
| 139 |
+
],
|
| 140 |
+
"type": "turn left",
|
| 141 |
+
"value": 30,
|
| 142 |
+
"yaw": -0.5235987755982989
|
| 143 |
+
}
|
| 144 |
+
}
|
| 145 |
+
{
|
| 146 |
+
"action": {
|
| 147 |
+
"imageid": 11,
|
| 148 |
+
"pos": [
|
| 149 |
+
323.7299798386529,
|
| 150 |
+
-100.8754466957962,
|
| 151 |
+
-4.437717397568846
|
| 152 |
+
],
|
| 153 |
+
"type": "turn left",
|
| 154 |
+
"value": 30,
|
| 155 |
+
"yaw": 0.0
|
| 156 |
+
}
|
| 157 |
+
}
|
| 158 |
+
{
|
| 159 |
+
"action": {
|
| 160 |
+
"imageid": 12,
|
| 161 |
+
"pos": [
|
| 162 |
+
323.7299798386529,
|
| 163 |
+
-100.8754466957962,
|
| 164 |
+
-4.437717397568846
|
| 165 |
+
],
|
| 166 |
+
"type": "go straight",
|
| 167 |
+
"value": 3,
|
| 168 |
+
"yaw": 0.0
|
| 169 |
+
}
|
| 170 |
+
}
|
| 171 |
+
{
|
| 172 |
+
"action": {
|
| 173 |
+
"imageid": 13,
|
| 174 |
+
"pos": [
|
| 175 |
+
326.7299798386529,
|
| 176 |
+
-100.8754466957962,
|
| 177 |
+
-4.437717397568846
|
| 178 |
+
],
|
| 179 |
+
"type": "go straight",
|
| 180 |
+
"value": 3,
|
| 181 |
+
"yaw": 0.0
|
| 182 |
+
}
|
| 183 |
+
}
|
| 184 |
+
{
|
| 185 |
+
"action": {
|
| 186 |
+
"imageid": 14,
|
| 187 |
+
"pos": [
|
| 188 |
+
329.7299798386529,
|
| 189 |
+
-100.8754466957962,
|
| 190 |
+
-4.437717397568846
|
| 191 |
+
],
|
| 192 |
+
"type": "go straight",
|
| 193 |
+
"value": 3,
|
| 194 |
+
"yaw": 0.0
|
| 195 |
+
}
|
| 196 |
+
}
|
| 197 |
+
{
|
| 198 |
+
"action": {
|
| 199 |
+
"imageid": 15,
|
| 200 |
+
"pos": [
|
| 201 |
+
332.7299798386529,
|
| 202 |
+
-100.8754466957962,
|
| 203 |
+
-4.437717397568846
|
| 204 |
+
],
|
| 205 |
+
"type": "go straight",
|
| 206 |
+
"value": 3,
|
| 207 |
+
"yaw": 0.0
|
| 208 |
+
}
|
| 209 |
+
}
|
| 210 |
+
{
|
| 211 |
+
"action": {
|
| 212 |
+
"imageid": 16,
|
| 213 |
+
"pos": [
|
| 214 |
+
335.7299798386529,
|
| 215 |
+
-100.8754466957962,
|
| 216 |
+
-4.437717397568846
|
| 217 |
+
],
|
| 218 |
+
"type": "go straight",
|
| 219 |
+
"value": 3,
|
| 220 |
+
"yaw": 0.0
|
| 221 |
+
}
|
| 222 |
+
}
|
| 223 |
+
{
|
| 224 |
+
"action": {
|
| 225 |
+
"imageid": 17,
|
| 226 |
+
"pos": [
|
| 227 |
+
338.7299798386529,
|
| 228 |
+
-100.8754466957962,
|
| 229 |
+
-4.437717397568846
|
| 230 |
+
],
|
| 231 |
+
"type": "go straight",
|
| 232 |
+
"value": 3,
|
| 233 |
+
"yaw": 0.0
|
| 234 |
+
}
|
| 235 |
+
}
|
| 236 |
+
{
|
| 237 |
+
"action": {
|
| 238 |
+
"imageid": 18,
|
| 239 |
+
"pos": [
|
| 240 |
+
341.7299798386529,
|
| 241 |
+
-100.8754466957962,
|
| 242 |
+
-4.437717397568846
|
| 243 |
+
],
|
| 244 |
+
"type": "go straight",
|
| 245 |
+
"value": 3,
|
| 246 |
+
"yaw": 0.0
|
| 247 |
+
}
|
| 248 |
+
}
|
| 249 |
+
{
|
| 250 |
+
"action": {
|
| 251 |
+
"imageid": 19,
|
| 252 |
+
"pos": [
|
| 253 |
+
344.7299798386529,
|
| 254 |
+
-100.8754466957962,
|
| 255 |
+
-4.437717397568846
|
| 256 |
+
],
|
| 257 |
+
"type": "go straight",
|
| 258 |
+
"value": 3,
|
| 259 |
+
"yaw": 0.0
|
| 260 |
+
}
|
| 261 |
+
}
|
| 262 |
+
{
|
| 263 |
+
"action": {
|
| 264 |
+
"imageid": 20,
|
| 265 |
+
"pos": [
|
| 266 |
+
347.7299798386529,
|
| 267 |
+
-100.8754466957962,
|
| 268 |
+
-4.437717397568846
|
| 269 |
+
],
|
| 270 |
+
"type": "go straight",
|
| 271 |
+
"value": 3,
|
| 272 |
+
"yaw": 0.0
|
| 273 |
+
}
|
| 274 |
+
}
|
| 275 |
+
{
|
| 276 |
+
"action": {
|
| 277 |
+
"imageid": 21,
|
| 278 |
+
"pos": [
|
| 279 |
+
350.7299798386529,
|
| 280 |
+
-100.8754466957962,
|
| 281 |
+
-4.437717397568846
|
| 282 |
+
],
|
| 283 |
+
"type": "go straight",
|
| 284 |
+
"value": 3,
|
| 285 |
+
"yaw": 0.0
|
| 286 |
+
}
|
| 287 |
+
}
|
| 288 |
+
{
|
| 289 |
+
"action": {
|
| 290 |
+
"imageid": 22,
|
| 291 |
+
"pos": [
|
| 292 |
+
353.7299798386529,
|
| 293 |
+
-100.8754466957962,
|
| 294 |
+
-4.437717397568846
|
| 295 |
+
],
|
| 296 |
+
"type": "go straight",
|
| 297 |
+
"value": 3,
|
| 298 |
+
"yaw": 0.0
|
| 299 |
+
}
|
| 300 |
+
}
|
| 301 |
+
{
|
| 302 |
+
"action": {
|
| 303 |
+
"imageid": 23,
|
| 304 |
+
"pos": [
|
| 305 |
+
356.7299798386529,
|
| 306 |
+
-100.8754466957962,
|
| 307 |
+
-4.437717397568846
|
| 308 |
+
],
|
| 309 |
+
"type": "go straight",
|
| 310 |
+
"value": 3,
|
| 311 |
+
"yaw": 0.0
|
| 312 |
+
}
|
| 313 |
+
}
|
| 314 |
+
{
|
| 315 |
+
"action": {
|
| 316 |
+
"imageid": 24,
|
| 317 |
+
"pos": [
|
| 318 |
+
359.7299798386529,
|
| 319 |
+
-100.8754466957962,
|
| 320 |
+
-4.437717397568846
|
| 321 |
+
],
|
| 322 |
+
"type": "go straight",
|
| 323 |
+
"value": 3,
|
| 324 |
+
"yaw": 0.0
|
| 325 |
+
}
|
| 326 |
+
}
|
| 327 |
+
{
|
| 328 |
+
"action": {
|
| 329 |
+
"imageid": 25,
|
| 330 |
+
"pos": [
|
| 331 |
+
362.7299798386529,
|
| 332 |
+
-100.8754466957962,
|
| 333 |
+
-4.437717397568846
|
| 334 |
+
],
|
| 335 |
+
"type": "turn left",
|
| 336 |
+
"value": 30,
|
| 337 |
+
"yaw": 0.0
|
| 338 |
+
}
|
| 339 |
+
}
|
| 340 |
+
{
|
| 341 |
+
"action": {
|
| 342 |
+
"imageid": 26,
|
| 343 |
+
"pos": [
|
| 344 |
+
362.7299798386529,
|
| 345 |
+
-100.8754466957962,
|
| 346 |
+
-4.437717397568846
|
| 347 |
+
],
|
| 348 |
+
"type": "go straight",
|
| 349 |
+
"value": 3,
|
| 350 |
+
"yaw": 0.5235987755982988
|
| 351 |
+
}
|
| 352 |
+
}
|
| 353 |
+
{
|
| 354 |
+
"action": {
|
| 355 |
+
"imageid": 27,
|
| 356 |
+
"pos": [
|
| 357 |
+
365.32805605000624,
|
| 358 |
+
-99.3754466957962,
|
| 359 |
+
-4.437717397568846
|
| 360 |
+
],
|
| 361 |
+
"type": "go straight",
|
| 362 |
+
"value": 3,
|
| 363 |
+
"yaw": 0.5235987755982988
|
| 364 |
+
}
|
| 365 |
+
}
|
| 366 |
+
{
|
| 367 |
+
"action": {
|
| 368 |
+
"imageid": 28,
|
| 369 |
+
"pos": [
|
| 370 |
+
367.92613226135956,
|
| 371 |
+
-97.8754466957962,
|
| 372 |
+
-4.437717397568846
|
| 373 |
+
],
|
| 374 |
+
"type": "go straight",
|
| 375 |
+
"value": 3,
|
| 376 |
+
"yaw": 0.5235987755982988
|
| 377 |
+
}
|
| 378 |
+
}
|
| 379 |
+
{
|
| 380 |
+
"action": {
|
| 381 |
+
"imageid": 29,
|
| 382 |
+
"pos": [
|
| 383 |
+
370.52420847271287,
|
| 384 |
+
-96.3754466957962,
|
| 385 |
+
-4.437717397568846
|
| 386 |
+
],
|
| 387 |
+
"type": "go straight",
|
| 388 |
+
"value": 3,
|
| 389 |
+
"yaw": 0.5235987755982988
|
| 390 |
+
}
|
| 391 |
+
}
|
| 392 |
+
{
|
| 393 |
+
"action": {
|
| 394 |
+
"imageid": 30,
|
| 395 |
+
"pos": [
|
| 396 |
+
373.1222846840662,
|
| 397 |
+
-94.8754466957962,
|
| 398 |
+
-4.437717397568846
|
| 399 |
+
],
|
| 400 |
+
"type": "stop",
|
| 401 |
+
"value": 0,
|
| 402 |
+
"yaw": 0.5235987755982988
|
| 403 |
+
}
|
| 404 |
+
}
|
| 405 |
+
{
|
| 406 |
+
"aim_landmark": {
|
| 407 |
+
"color": "test",
|
| 408 |
+
"feature": "test",
|
| 409 |
+
"position": [
|
| 410 |
+
375.30573921203614,
|
| 411 |
+
-93.86981248855591,
|
| 412 |
+
0.0
|
| 413 |
+
],
|
| 414 |
+
"shape": "test",
|
| 415 |
+
"size": "test",
|
| 416 |
+
"type": "building"
|
| 417 |
+
}
|
| 418 |
+
}
|
Image/env_gs_nwpu02/astar_data/long/2025-1-16_14-10-2_1649760492/pose.jsonl
ADDED
|
@@ -0,0 +1,561 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
1328.3089338820773,
|
| 6 |
+
285.52219642423705,
|
| 7 |
+
-0.3014763577302242
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -2.0943951023931953
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
1326.8089338820773,
|
| 19 |
+
282.92412021288374,
|
| 20 |
+
-0.3014763577302242
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -2.0943951023931953
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
1325.3089338820773,
|
| 32 |
+
280.3260440015304,
|
| 33 |
+
-0.3014763577302242
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -2.0943951023931953
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
1323.8089338820773,
|
| 45 |
+
277.7279677901771,
|
| 46 |
+
-0.3014763577302242
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -2.0943951023931953
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
1322.3089338820773,
|
| 58 |
+
275.1298915788238,
|
| 59 |
+
-0.3014763577302242
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -2.0943951023931953
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
1320.8089338820773,
|
| 71 |
+
272.5318153674705,
|
| 72 |
+
-0.3014763577302242
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -2.0943951023931953
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
1319.3089338820773,
|
| 84 |
+
269.93373915611716,
|
| 85 |
+
-0.3014763577302242
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -2.0943951023931953
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
1317.8089338820773,
|
| 97 |
+
267.33566294476384,
|
| 98 |
+
-0.3014763577302242
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -2.0943951023931953
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
1316.3089338820773,
|
| 110 |
+
264.7375867334105,
|
| 111 |
+
-0.3014763577302242
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -2.0943951023931953
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
1314.8089338820773,
|
| 123 |
+
262.1395105220572,
|
| 124 |
+
-0.3014763577302242
|
| 125 |
+
],
|
| 126 |
+
"type": "turn right",
|
| 127 |
+
"value": 30,
|
| 128 |
+
"yaw": -2.0943951023931953
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
1314.8089338820773,
|
| 136 |
+
262.1395105220572,
|
| 137 |
+
-0.3014763577302242
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -2.617993877991494
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
1312.210857670724,
|
| 149 |
+
260.6395105220572,
|
| 150 |
+
-0.3014763577302242
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -2.6179938779915037
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
1309.6127814593706,
|
| 162 |
+
259.1395105220572,
|
| 163 |
+
-0.3014763577302242
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -2.6179938779915037
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
1307.0147052480172,
|
| 175 |
+
257.6395105220572,
|
| 176 |
+
-0.3014763577302242
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -2.6179938779915037
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
1304.4166290366638,
|
| 188 |
+
256.1395105220572,
|
| 189 |
+
-0.3014763577302242
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -2.6179938779915037
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
1301.8185528253105,
|
| 201 |
+
254.6395105220572,
|
| 202 |
+
-0.3014763577302242
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -2.6179938779915037
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
1299.220476613957,
|
| 214 |
+
253.1395105220572,
|
| 215 |
+
-0.3014763577302242
|
| 216 |
+
],
|
| 217 |
+
"type": "turn left",
|
| 218 |
+
"value": 30,
|
| 219 |
+
"yaw": -2.6179938779915037
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
1299.220476613957,
|
| 227 |
+
253.1395105220572,
|
| 228 |
+
-0.3014763577302242
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": -2.094395102393205
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
1297.720476613957,
|
| 240 |
+
250.5414343107039,
|
| 241 |
+
-0.3014763577302242
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": -2.0943951023931953
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
1296.220476613957,
|
| 253 |
+
247.94335809935058,
|
| 254 |
+
-0.3014763577302242
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": -2.0943951023931953
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"aim_landmark": {
|
| 263 |
+
"color": "test",
|
| 264 |
+
"feature": "test",
|
| 265 |
+
"position": [
|
| 266 |
+
1292.3825042724611,
|
| 267 |
+
243.1778787612915,
|
| 268 |
+
0.0
|
| 269 |
+
],
|
| 270 |
+
"shape": "test",
|
| 271 |
+
"size": "test",
|
| 272 |
+
"type": "building"
|
| 273 |
+
}
|
| 274 |
+
}
|
| 275 |
+
{
|
| 276 |
+
"action": {
|
| 277 |
+
"imageid": 21,
|
| 278 |
+
"pos": [
|
| 279 |
+
1294.720476613957,
|
| 280 |
+
245.34528188799726,
|
| 281 |
+
-0.3014763577302242
|
| 282 |
+
],
|
| 283 |
+
"type": "turn left",
|
| 284 |
+
"value": 30,
|
| 285 |
+
"yaw": -2.0943951023931953
|
| 286 |
+
}
|
| 287 |
+
}
|
| 288 |
+
{
|
| 289 |
+
"action": {
|
| 290 |
+
"imageid": 22,
|
| 291 |
+
"pos": [
|
| 292 |
+
1294.720476613957,
|
| 293 |
+
245.34528188799726,
|
| 294 |
+
-0.3014763577302242
|
| 295 |
+
],
|
| 296 |
+
"type": "turn left",
|
| 297 |
+
"value": 30,
|
| 298 |
+
"yaw": -1.5707963267948966
|
| 299 |
+
}
|
| 300 |
+
}
|
| 301 |
+
{
|
| 302 |
+
"action": {
|
| 303 |
+
"imageid": 23,
|
| 304 |
+
"pos": [
|
| 305 |
+
1294.720476613957,
|
| 306 |
+
245.34528188799726,
|
| 307 |
+
-0.3014763577302242
|
| 308 |
+
],
|
| 309 |
+
"type": "go straight",
|
| 310 |
+
"value": 3,
|
| 311 |
+
"yaw": -1.0471975511965979
|
| 312 |
+
}
|
| 313 |
+
}
|
| 314 |
+
{
|
| 315 |
+
"action": {
|
| 316 |
+
"imageid": 24,
|
| 317 |
+
"pos": [
|
| 318 |
+
1296.220476613957,
|
| 319 |
+
242.74720567664394,
|
| 320 |
+
-0.3014763577302242
|
| 321 |
+
],
|
| 322 |
+
"type": "go straight",
|
| 323 |
+
"value": 3,
|
| 324 |
+
"yaw": -1.0471975511965979
|
| 325 |
+
}
|
| 326 |
+
}
|
| 327 |
+
{
|
| 328 |
+
"action": {
|
| 329 |
+
"imageid": 25,
|
| 330 |
+
"pos": [
|
| 331 |
+
1297.720476613957,
|
| 332 |
+
240.14912946529063,
|
| 333 |
+
-0.3014763577302242
|
| 334 |
+
],
|
| 335 |
+
"type": "go straight",
|
| 336 |
+
"value": 3,
|
| 337 |
+
"yaw": -1.0471975511965979
|
| 338 |
+
}
|
| 339 |
+
}
|
| 340 |
+
{
|
| 341 |
+
"action": {
|
| 342 |
+
"imageid": 26,
|
| 343 |
+
"pos": [
|
| 344 |
+
1299.220476613957,
|
| 345 |
+
237.5510532539373,
|
| 346 |
+
-0.3014763577302242
|
| 347 |
+
],
|
| 348 |
+
"type": "go straight",
|
| 349 |
+
"value": 3,
|
| 350 |
+
"yaw": -1.0471975511965979
|
| 351 |
+
}
|
| 352 |
+
}
|
| 353 |
+
{
|
| 354 |
+
"action": {
|
| 355 |
+
"imageid": 27,
|
| 356 |
+
"pos": [
|
| 357 |
+
1300.720476613957,
|
| 358 |
+
234.952977042584,
|
| 359 |
+
-0.3014763577302242
|
| 360 |
+
],
|
| 361 |
+
"type": "go straight",
|
| 362 |
+
"value": 3,
|
| 363 |
+
"yaw": -1.0471975511965979
|
| 364 |
+
}
|
| 365 |
+
}
|
| 366 |
+
{
|
| 367 |
+
"action": {
|
| 368 |
+
"imageid": 28,
|
| 369 |
+
"pos": [
|
| 370 |
+
1302.220476613957,
|
| 371 |
+
232.35490083123068,
|
| 372 |
+
-0.3014763577302242
|
| 373 |
+
],
|
| 374 |
+
"type": "go straight",
|
| 375 |
+
"value": 3,
|
| 376 |
+
"yaw": -1.0471975511965979
|
| 377 |
+
}
|
| 378 |
+
}
|
| 379 |
+
{
|
| 380 |
+
"action": {
|
| 381 |
+
"imageid": 29,
|
| 382 |
+
"pos": [
|
| 383 |
+
1303.720476613957,
|
| 384 |
+
229.75682461987736,
|
| 385 |
+
-0.3014763577302242
|
| 386 |
+
],
|
| 387 |
+
"type": "go straight",
|
| 388 |
+
"value": 3,
|
| 389 |
+
"yaw": -1.0471975511965979
|
| 390 |
+
}
|
| 391 |
+
}
|
| 392 |
+
{
|
| 393 |
+
"action": {
|
| 394 |
+
"imageid": 30,
|
| 395 |
+
"pos": [
|
| 396 |
+
1305.220476613957,
|
| 397 |
+
227.15874840852405,
|
| 398 |
+
-0.3014763577302242
|
| 399 |
+
],
|
| 400 |
+
"type": "go straight",
|
| 401 |
+
"value": 3,
|
| 402 |
+
"yaw": -1.0471975511965979
|
| 403 |
+
}
|
| 404 |
+
}
|
| 405 |
+
{
|
| 406 |
+
"action": {
|
| 407 |
+
"imageid": 31,
|
| 408 |
+
"pos": [
|
| 409 |
+
1306.720476613957,
|
| 410 |
+
224.56067219717073,
|
| 411 |
+
-0.3014763577302242
|
| 412 |
+
],
|
| 413 |
+
"type": "go straight",
|
| 414 |
+
"value": 3,
|
| 415 |
+
"yaw": -1.0471975511965979
|
| 416 |
+
}
|
| 417 |
+
}
|
| 418 |
+
{
|
| 419 |
+
"action": {
|
| 420 |
+
"imageid": 32,
|
| 421 |
+
"pos": [
|
| 422 |
+
1308.220476613957,
|
| 423 |
+
221.96259598581742,
|
| 424 |
+
-0.3014763577302242
|
| 425 |
+
],
|
| 426 |
+
"type": "go straight",
|
| 427 |
+
"value": 3,
|
| 428 |
+
"yaw": -1.0471975511965979
|
| 429 |
+
}
|
| 430 |
+
}
|
| 431 |
+
{
|
| 432 |
+
"action": {
|
| 433 |
+
"imageid": 33,
|
| 434 |
+
"pos": [
|
| 435 |
+
1309.720476613957,
|
| 436 |
+
219.3645197744641,
|
| 437 |
+
-0.3014763577302242
|
| 438 |
+
],
|
| 439 |
+
"type": "go straight",
|
| 440 |
+
"value": 3,
|
| 441 |
+
"yaw": -1.0471975511965979
|
| 442 |
+
}
|
| 443 |
+
}
|
| 444 |
+
{
|
| 445 |
+
"action": {
|
| 446 |
+
"imageid": 34,
|
| 447 |
+
"pos": [
|
| 448 |
+
1311.220476613957,
|
| 449 |
+
216.76644356311078,
|
| 450 |
+
-0.3014763577302242
|
| 451 |
+
],
|
| 452 |
+
"type": "go straight",
|
| 453 |
+
"value": 3,
|
| 454 |
+
"yaw": -1.0471975511965979
|
| 455 |
+
}
|
| 456 |
+
}
|
| 457 |
+
{
|
| 458 |
+
"action": {
|
| 459 |
+
"imageid": 35,
|
| 460 |
+
"pos": [
|
| 461 |
+
1312.720476613957,
|
| 462 |
+
214.16836735175747,
|
| 463 |
+
-0.3014763577302242
|
| 464 |
+
],
|
| 465 |
+
"type": "go straight",
|
| 466 |
+
"value": 3,
|
| 467 |
+
"yaw": -1.0471975511965979
|
| 468 |
+
}
|
| 469 |
+
}
|
| 470 |
+
{
|
| 471 |
+
"action": {
|
| 472 |
+
"imageid": 36,
|
| 473 |
+
"pos": [
|
| 474 |
+
1314.220476613957,
|
| 475 |
+
211.57029114040415,
|
| 476 |
+
-0.3014763577302242
|
| 477 |
+
],
|
| 478 |
+
"type": "go straight",
|
| 479 |
+
"value": 3,
|
| 480 |
+
"yaw": -1.0471975511965979
|
| 481 |
+
}
|
| 482 |
+
}
|
| 483 |
+
{
|
| 484 |
+
"action": {
|
| 485 |
+
"imageid": 37,
|
| 486 |
+
"pos": [
|
| 487 |
+
1315.720476613957,
|
| 488 |
+
208.97221492905084,
|
| 489 |
+
-0.3014763577302242
|
| 490 |
+
],
|
| 491 |
+
"type": "go straight",
|
| 492 |
+
"value": 3,
|
| 493 |
+
"yaw": -1.0471975511965979
|
| 494 |
+
}
|
| 495 |
+
}
|
| 496 |
+
{
|
| 497 |
+
"action": {
|
| 498 |
+
"imageid": 38,
|
| 499 |
+
"pos": [
|
| 500 |
+
1317.220476613957,
|
| 501 |
+
206.37413871769752,
|
| 502 |
+
-0.3014763577302242
|
| 503 |
+
],
|
| 504 |
+
"type": "turn right",
|
| 505 |
+
"value": 30,
|
| 506 |
+
"yaw": -1.0471975511965979
|
| 507 |
+
}
|
| 508 |
+
}
|
| 509 |
+
{
|
| 510 |
+
"action": {
|
| 511 |
+
"imageid": 39,
|
| 512 |
+
"pos": [
|
| 513 |
+
1317.220476613957,
|
| 514 |
+
206.37413871769752,
|
| 515 |
+
-0.3014763577302242
|
| 516 |
+
],
|
| 517 |
+
"type": "go straight",
|
| 518 |
+
"value": 3,
|
| 519 |
+
"yaw": -1.5707963267948966
|
| 520 |
+
}
|
| 521 |
+
}
|
| 522 |
+
{
|
| 523 |
+
"action": {
|
| 524 |
+
"imageid": 40,
|
| 525 |
+
"pos": [
|
| 526 |
+
1317.220476613957,
|
| 527 |
+
203.37413871769752,
|
| 528 |
+
-0.3014763577302242
|
| 529 |
+
],
|
| 530 |
+
"type": "go straight",
|
| 531 |
+
"value": 3,
|
| 532 |
+
"yaw": -1.5707963267948966
|
| 533 |
+
}
|
| 534 |
+
}
|
| 535 |
+
{
|
| 536 |
+
"action": {
|
| 537 |
+
"imageid": 41,
|
| 538 |
+
"pos": [
|
| 539 |
+
1317.220476613957,
|
| 540 |
+
200.37413871769752,
|
| 541 |
+
-0.3014763577302242
|
| 542 |
+
],
|
| 543 |
+
"type": "stop",
|
| 544 |
+
"value": 0,
|
| 545 |
+
"yaw": -1.5707963267948966
|
| 546 |
+
}
|
| 547 |
+
}
|
| 548 |
+
{
|
| 549 |
+
"aim_landmark": {
|
| 550 |
+
"color": "test",
|
| 551 |
+
"feature": "test",
|
| 552 |
+
"position": [
|
| 553 |
+
1318.4154022216799,
|
| 554 |
+
197.2680404663086,
|
| 555 |
+
0.0
|
| 556 |
+
],
|
| 557 |
+
"shape": "test",
|
| 558 |
+
"size": "test",
|
| 559 |
+
"type": "building"
|
| 560 |
+
}
|
| 561 |
+
}
|
Image/env_gs_nwpu02/astar_data/long/2025-1-16_14-12-36_2044897763/pose.jsonl
ADDED
|
@@ -0,0 +1,548 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
732.836724809562,
|
| 6 |
+
18.022374112579893,
|
| 7 |
+
2.981188176842463
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -1.0471975511965979
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
734.336724809562,
|
| 19 |
+
15.424297901226577,
|
| 20 |
+
2.981188176842463
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -1.0471975511965979
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
735.836724809562,
|
| 32 |
+
12.826221689873261,
|
| 33 |
+
2.981188176842463
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -1.0471975511965979
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
737.336724809562,
|
| 45 |
+
10.228145478519945,
|
| 46 |
+
2.981188176842463
|
| 47 |
+
],
|
| 48 |
+
"type": "turn left",
|
| 49 |
+
"value": 30,
|
| 50 |
+
"yaw": -1.0471975511965979
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
737.336724809562,
|
| 58 |
+
10.228145478519945,
|
| 59 |
+
2.981188176842463
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -0.523598775598299
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
739.9348010209153,
|
| 71 |
+
8.728145478519945,
|
| 72 |
+
2.981188176842463
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -0.5235987755983084
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
742.5328772322687,
|
| 84 |
+
7.228145478519945,
|
| 85 |
+
2.981188176842463
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -0.5235987755982894
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
745.130953443622,
|
| 97 |
+
5.728145478519945,
|
| 98 |
+
2.981188176842463
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -0.5235987755982894
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
747.7290296549754,
|
| 110 |
+
4.228145478519945,
|
| 111 |
+
2.981188176842463
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -0.5235987755982894
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
750.3271058663288,
|
| 123 |
+
2.728145478519945,
|
| 124 |
+
2.981188176842463
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -0.5235987755982894
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
752.9251820776822,
|
| 136 |
+
1.2281454785199453,
|
| 137 |
+
2.981188176842463
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -0.5235987755982893
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
755.5232582890355,
|
| 149 |
+
-0.2718545214800545,
|
| 150 |
+
2.981188176842463
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -0.5235987755982893
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
758.1213345003889,
|
| 162 |
+
-1.7718545214800543,
|
| 163 |
+
2.981188176842463
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -0.5235987755982893
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
760.7194107117423,
|
| 175 |
+
-3.271854521480054,
|
| 176 |
+
2.981188176842463
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -0.5235987755982893
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
763.3174869230957,
|
| 188 |
+
-4.771854521480054,
|
| 189 |
+
2.981188176842463
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -0.5235987755982894
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
765.915563134449,
|
| 201 |
+
-6.271854521480054,
|
| 202 |
+
2.981188176842463
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -0.5235987755982894
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
768.5136393458024,
|
| 214 |
+
-7.771854521480054,
|
| 215 |
+
2.981188176842463
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -0.5235987755982894
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
771.1117155571558,
|
| 227 |
+
-9.271854521480053,
|
| 228 |
+
2.981188176842463
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": -0.5235987755982892
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
773.7097917685091,
|
| 240 |
+
-10.771854521480053,
|
| 241 |
+
2.981188176842463
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": -0.5235987755982894
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
776.3078679798625,
|
| 253 |
+
-12.271854521480053,
|
| 254 |
+
2.981188176842463
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": -0.5235987755982894
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"aim_landmark": {
|
| 263 |
+
"color": "test",
|
| 264 |
+
"feature": "test",
|
| 265 |
+
"position": [
|
| 266 |
+
785.4496536254883,
|
| 267 |
+
-18.975487995147706,
|
| 268 |
+
0.0
|
| 269 |
+
],
|
| 270 |
+
"shape": "test",
|
| 271 |
+
"size": "test",
|
| 272 |
+
"type": "building"
|
| 273 |
+
}
|
| 274 |
+
}
|
| 275 |
+
{
|
| 276 |
+
"action": {
|
| 277 |
+
"imageid": 21,
|
| 278 |
+
"pos": [
|
| 279 |
+
778.9059441912159,
|
| 280 |
+
-13.771854521480053,
|
| 281 |
+
2.981188176842463
|
| 282 |
+
],
|
| 283 |
+
"type": "turn left",
|
| 284 |
+
"value": 30,
|
| 285 |
+
"yaw": -0.5235987755982894
|
| 286 |
+
}
|
| 287 |
+
}
|
| 288 |
+
{
|
| 289 |
+
"action": {
|
| 290 |
+
"imageid": 22,
|
| 291 |
+
"pos": [
|
| 292 |
+
778.9059441912159,
|
| 293 |
+
-13.771854521480053,
|
| 294 |
+
2.981188176842463
|
| 295 |
+
],
|
| 296 |
+
"type": "go straight",
|
| 297 |
+
"value": 3,
|
| 298 |
+
"yaw": 3.141592653589793
|
| 299 |
+
}
|
| 300 |
+
}
|
| 301 |
+
{
|
| 302 |
+
"action": {
|
| 303 |
+
"imageid": 23,
|
| 304 |
+
"pos": [
|
| 305 |
+
775.9059441912159,
|
| 306 |
+
-13.771854521480053,
|
| 307 |
+
2.981188176842463
|
| 308 |
+
],
|
| 309 |
+
"type": "go straight",
|
| 310 |
+
"value": 3,
|
| 311 |
+
"yaw": 3.141592653589793
|
| 312 |
+
}
|
| 313 |
+
}
|
| 314 |
+
{
|
| 315 |
+
"action": {
|
| 316 |
+
"imageid": 24,
|
| 317 |
+
"pos": [
|
| 318 |
+
772.9059441912159,
|
| 319 |
+
-13.771854521480053,
|
| 320 |
+
2.981188176842463
|
| 321 |
+
],
|
| 322 |
+
"type": "go straight",
|
| 323 |
+
"value": 3,
|
| 324 |
+
"yaw": 3.141592653589793
|
| 325 |
+
}
|
| 326 |
+
}
|
| 327 |
+
{
|
| 328 |
+
"action": {
|
| 329 |
+
"imageid": 25,
|
| 330 |
+
"pos": [
|
| 331 |
+
769.9059441912159,
|
| 332 |
+
-13.771854521480053,
|
| 333 |
+
2.981188176842463
|
| 334 |
+
],
|
| 335 |
+
"type": "go straight",
|
| 336 |
+
"value": 3,
|
| 337 |
+
"yaw": 3.141592653589793
|
| 338 |
+
}
|
| 339 |
+
}
|
| 340 |
+
{
|
| 341 |
+
"action": {
|
| 342 |
+
"imageid": 26,
|
| 343 |
+
"pos": [
|
| 344 |
+
766.9059441912159,
|
| 345 |
+
-13.771854521480053,
|
| 346 |
+
2.981188176842463
|
| 347 |
+
],
|
| 348 |
+
"type": "go straight",
|
| 349 |
+
"value": 3,
|
| 350 |
+
"yaw": 3.141592653589793
|
| 351 |
+
}
|
| 352 |
+
}
|
| 353 |
+
{
|
| 354 |
+
"action": {
|
| 355 |
+
"imageid": 27,
|
| 356 |
+
"pos": [
|
| 357 |
+
763.9059441912159,
|
| 358 |
+
-13.771854521480053,
|
| 359 |
+
2.981188176842463
|
| 360 |
+
],
|
| 361 |
+
"type": "go straight",
|
| 362 |
+
"value": 3,
|
| 363 |
+
"yaw": 3.141592653589793
|
| 364 |
+
}
|
| 365 |
+
}
|
| 366 |
+
{
|
| 367 |
+
"action": {
|
| 368 |
+
"imageid": 28,
|
| 369 |
+
"pos": [
|
| 370 |
+
760.9059441912159,
|
| 371 |
+
-13.771854521480053,
|
| 372 |
+
2.981188176842463
|
| 373 |
+
],
|
| 374 |
+
"type": "go straight",
|
| 375 |
+
"value": 3,
|
| 376 |
+
"yaw": 3.141592653589793
|
| 377 |
+
}
|
| 378 |
+
}
|
| 379 |
+
{
|
| 380 |
+
"action": {
|
| 381 |
+
"imageid": 29,
|
| 382 |
+
"pos": [
|
| 383 |
+
757.9059441912159,
|
| 384 |
+
-13.771854521480053,
|
| 385 |
+
2.981188176842463
|
| 386 |
+
],
|
| 387 |
+
"type": "go straight",
|
| 388 |
+
"value": 3,
|
| 389 |
+
"yaw": 3.141592653589793
|
| 390 |
+
}
|
| 391 |
+
}
|
| 392 |
+
{
|
| 393 |
+
"action": {
|
| 394 |
+
"imageid": 30,
|
| 395 |
+
"pos": [
|
| 396 |
+
754.9059441912159,
|
| 397 |
+
-13.771854521480053,
|
| 398 |
+
2.981188176842463
|
| 399 |
+
],
|
| 400 |
+
"type": "go straight",
|
| 401 |
+
"value": 3,
|
| 402 |
+
"yaw": 3.141592653589793
|
| 403 |
+
}
|
| 404 |
+
}
|
| 405 |
+
{
|
| 406 |
+
"action": {
|
| 407 |
+
"imageid": 31,
|
| 408 |
+
"pos": [
|
| 409 |
+
751.9059441912159,
|
| 410 |
+
-13.771854521480053,
|
| 411 |
+
2.981188176842463
|
| 412 |
+
],
|
| 413 |
+
"type": "go straight",
|
| 414 |
+
"value": 3,
|
| 415 |
+
"yaw": 3.141592653589793
|
| 416 |
+
}
|
| 417 |
+
}
|
| 418 |
+
{
|
| 419 |
+
"action": {
|
| 420 |
+
"imageid": 32,
|
| 421 |
+
"pos": [
|
| 422 |
+
748.9059441912159,
|
| 423 |
+
-13.771854521480053,
|
| 424 |
+
2.981188176842463
|
| 425 |
+
],
|
| 426 |
+
"type": "go straight",
|
| 427 |
+
"value": 3,
|
| 428 |
+
"yaw": 3.141592653589793
|
| 429 |
+
}
|
| 430 |
+
}
|
| 431 |
+
{
|
| 432 |
+
"action": {
|
| 433 |
+
"imageid": 33,
|
| 434 |
+
"pos": [
|
| 435 |
+
745.9059441912159,
|
| 436 |
+
-13.771854521480053,
|
| 437 |
+
2.981188176842463
|
| 438 |
+
],
|
| 439 |
+
"type": "go straight",
|
| 440 |
+
"value": 3,
|
| 441 |
+
"yaw": 3.141592653589793
|
| 442 |
+
}
|
| 443 |
+
}
|
| 444 |
+
{
|
| 445 |
+
"action": {
|
| 446 |
+
"imageid": 34,
|
| 447 |
+
"pos": [
|
| 448 |
+
742.9059441912159,
|
| 449 |
+
-13.771854521480053,
|
| 450 |
+
2.981188176842463
|
| 451 |
+
],
|
| 452 |
+
"type": "go straight",
|
| 453 |
+
"value": 3,
|
| 454 |
+
"yaw": 3.141592653589793
|
| 455 |
+
}
|
| 456 |
+
}
|
| 457 |
+
{
|
| 458 |
+
"action": {
|
| 459 |
+
"imageid": 35,
|
| 460 |
+
"pos": [
|
| 461 |
+
739.9059441912159,
|
| 462 |
+
-13.771854521480053,
|
| 463 |
+
2.981188176842463
|
| 464 |
+
],
|
| 465 |
+
"type": "go straight",
|
| 466 |
+
"value": 3,
|
| 467 |
+
"yaw": 3.141592653589793
|
| 468 |
+
}
|
| 469 |
+
}
|
| 470 |
+
{
|
| 471 |
+
"action": {
|
| 472 |
+
"imageid": 36,
|
| 473 |
+
"pos": [
|
| 474 |
+
736.9059441912159,
|
| 475 |
+
-13.771854521480053,
|
| 476 |
+
2.981188176842463
|
| 477 |
+
],
|
| 478 |
+
"type": "turn left",
|
| 479 |
+
"value": 30,
|
| 480 |
+
"yaw": 3.141592653589793
|
| 481 |
+
}
|
| 482 |
+
}
|
| 483 |
+
{
|
| 484 |
+
"action": {
|
| 485 |
+
"imageid": 37,
|
| 486 |
+
"pos": [
|
| 487 |
+
736.9059441912159,
|
| 488 |
+
-13.771854521480053,
|
| 489 |
+
2.981188176842463
|
| 490 |
+
],
|
| 491 |
+
"type": "go straight",
|
| 492 |
+
"value": 3,
|
| 493 |
+
"yaw": 3.665191429188092
|
| 494 |
+
}
|
| 495 |
+
}
|
| 496 |
+
{
|
| 497 |
+
"action": {
|
| 498 |
+
"imageid": 38,
|
| 499 |
+
"pos": [
|
| 500 |
+
734.3078679798625,
|
| 501 |
+
-15.271854521480053,
|
| 502 |
+
2.981188176842463
|
| 503 |
+
],
|
| 504 |
+
"type": "go straight",
|
| 505 |
+
"value": 3,
|
| 506 |
+
"yaw": -2.6179938779915037
|
| 507 |
+
}
|
| 508 |
+
}
|
| 509 |
+
{
|
| 510 |
+
"action": {
|
| 511 |
+
"imageid": 39,
|
| 512 |
+
"pos": [
|
| 513 |
+
731.7097917685091,
|
| 514 |
+
-16.77185452148005,
|
| 515 |
+
2.981188176842463
|
| 516 |
+
],
|
| 517 |
+
"type": "go straight",
|
| 518 |
+
"value": 3,
|
| 519 |
+
"yaw": -2.617993877991504
|
| 520 |
+
}
|
| 521 |
+
}
|
| 522 |
+
{
|
| 523 |
+
"action": {
|
| 524 |
+
"imageid": 40,
|
| 525 |
+
"pos": [
|
| 526 |
+
729.1117155571558,
|
| 527 |
+
-18.27185452148005,
|
| 528 |
+
2.981188176842463
|
| 529 |
+
],
|
| 530 |
+
"type": "stop",
|
| 531 |
+
"value": 0,
|
| 532 |
+
"yaw": -2.617993877991504
|
| 533 |
+
}
|
| 534 |
+
}
|
| 535 |
+
{
|
| 536 |
+
"aim_landmark": {
|
| 537 |
+
"color": "test",
|
| 538 |
+
"feature": "test",
|
| 539 |
+
"position": [
|
| 540 |
+
727.4186401367188,
|
| 541 |
+
-18.7204083442688,
|
| 542 |
+
0.0
|
| 543 |
+
],
|
| 544 |
+
"shape": "test",
|
| 545 |
+
"size": "test",
|
| 546 |
+
"type": "building"
|
| 547 |
+
}
|
| 548 |
+
}
|
Image/env_gs_nwpu02/astar_data/long/2025-1-16_14-16-59_294702567/pose.jsonl
ADDED
|
@@ -0,0 +1,782 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
1216.5696598694021,
|
| 6 |
+
168.3635279722422,
|
| 7 |
+
-1.9942851675381048
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 1.0471975511965979
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
1218.0696598694021,
|
| 19 |
+
170.9616041835955,
|
| 20 |
+
-1.9942851675381048
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 1.0471975511965979
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
1219.5696598694021,
|
| 32 |
+
173.55968039494883,
|
| 33 |
+
-1.9942851675381048
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 1.0471975511965979
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
1221.0696598694021,
|
| 45 |
+
176.15775660630214,
|
| 46 |
+
-1.9942851675381048
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 1.0471975511965979
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
1222.5696598694021,
|
| 58 |
+
178.75583281765546,
|
| 59 |
+
-1.9942851675381048
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 1.0471975511965979
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
1224.0696598694021,
|
| 71 |
+
181.35390902900878,
|
| 72 |
+
-1.9942851675381048
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 1.0471975511965979
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
1225.5696598694021,
|
| 84 |
+
183.9519852403621,
|
| 85 |
+
-1.9942851675381048
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 1.0471975511965979
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
1227.0696598694021,
|
| 97 |
+
186.5500614517154,
|
| 98 |
+
-1.9942851675381048
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 1.0471975511965979
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
1228.5696598694021,
|
| 110 |
+
189.14813766306872,
|
| 111 |
+
-1.9942851675381048
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 1.0471975511965979
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
1230.0696598694021,
|
| 123 |
+
191.74621387442204,
|
| 124 |
+
-1.9942851675381048
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 1.0471975511965979
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
1231.5696598694021,
|
| 136 |
+
194.34429008577536,
|
| 137 |
+
-1.9942851675381048
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 1.0471975511965979
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
1233.0696598694021,
|
| 149 |
+
196.94236629712867,
|
| 150 |
+
-1.9942851675381048
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 1.0471975511965979
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
1234.5696598694021,
|
| 162 |
+
199.540442508482,
|
| 163 |
+
-1.9942851675381048
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 1.0471975511965979
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
1236.0696598694021,
|
| 175 |
+
202.1385187198353,
|
| 176 |
+
-1.9942851675381048
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 1.0471975511965979
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
1237.5696598694021,
|
| 188 |
+
204.73659493118862,
|
| 189 |
+
-1.9942851675381048
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 1.0471975511965979
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
1239.0696598694021,
|
| 201 |
+
207.33467114254194,
|
| 202 |
+
-1.9942851675381048
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 1.0471975511965979
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
1240.5696598694021,
|
| 214 |
+
209.93274735389525,
|
| 215 |
+
-1.9942851675381048
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 1.0471975511965979
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
1242.0696598694021,
|
| 227 |
+
212.53082356524857,
|
| 228 |
+
-1.9942851675381048
|
| 229 |
+
],
|
| 230 |
+
"type": "turn left",
|
| 231 |
+
"value": 30,
|
| 232 |
+
"yaw": 1.0471975511965979
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
1242.0696598694021,
|
| 240 |
+
212.53082356524857,
|
| 241 |
+
-1.9942851675381048
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 1.5707963267948966
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
1242.0696598694021,
|
| 253 |
+
215.53082356524857,
|
| 254 |
+
-1.9942851675381048
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": 1.5707963267948966
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
1242.0696598694021,
|
| 266 |
+
218.53082356524857,
|
| 267 |
+
-1.9942851675381048
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": 1.5707963267948966
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
1242.0696598694021,
|
| 279 |
+
221.53082356524857,
|
| 280 |
+
-1.9942851675381048
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": 1.5707963267948966
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
1242.0696598694021,
|
| 292 |
+
224.53082356524857,
|
| 293 |
+
-1.9942851675381048
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": 1.5707963267948966
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
1242.0696598694021,
|
| 305 |
+
227.53082356524857,
|
| 306 |
+
-1.9942851675381048
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": 1.5707963267948966
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
1242.0696598694021,
|
| 318 |
+
230.53082356524857,
|
| 319 |
+
-1.9942851675381048
|
| 320 |
+
],
|
| 321 |
+
"type": "go straight",
|
| 322 |
+
"value": 3,
|
| 323 |
+
"yaw": 1.5707963267948966
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"action": {
|
| 328 |
+
"imageid": 25,
|
| 329 |
+
"pos": [
|
| 330 |
+
1242.0696598694021,
|
| 331 |
+
233.53082356524857,
|
| 332 |
+
-1.9942851675381048
|
| 333 |
+
],
|
| 334 |
+
"type": "go straight",
|
| 335 |
+
"value": 3,
|
| 336 |
+
"yaw": 1.5707963267948966
|
| 337 |
+
}
|
| 338 |
+
}
|
| 339 |
+
{
|
| 340 |
+
"action": {
|
| 341 |
+
"imageid": 26,
|
| 342 |
+
"pos": [
|
| 343 |
+
1242.0696598694021,
|
| 344 |
+
236.53082356524857,
|
| 345 |
+
-1.9942851675381048
|
| 346 |
+
],
|
| 347 |
+
"type": "go straight",
|
| 348 |
+
"value": 3,
|
| 349 |
+
"yaw": 1.5707963267948966
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
{
|
| 353 |
+
"aim_landmark": {
|
| 354 |
+
"color": "test",
|
| 355 |
+
"feature": "test",
|
| 356 |
+
"position": [
|
| 357 |
+
1243.735294342041,
|
| 358 |
+
241.00056648254397,
|
| 359 |
+
0.0
|
| 360 |
+
],
|
| 361 |
+
"shape": "test",
|
| 362 |
+
"size": "test",
|
| 363 |
+
"type": "building"
|
| 364 |
+
}
|
| 365 |
+
}
|
| 366 |
+
{
|
| 367 |
+
"action": {
|
| 368 |
+
"imageid": 28,
|
| 369 |
+
"pos": [
|
| 370 |
+
1242.0696598694021,
|
| 371 |
+
239.53082356524857,
|
| 372 |
+
-1.9942851675381048
|
| 373 |
+
],
|
| 374 |
+
"type": "turn right",
|
| 375 |
+
"value": 30,
|
| 376 |
+
"yaw": 1.5707963267948966
|
| 377 |
+
}
|
| 378 |
+
}
|
| 379 |
+
{
|
| 380 |
+
"action": {
|
| 381 |
+
"imageid": 29,
|
| 382 |
+
"pos": [
|
| 383 |
+
1242.0696598694021,
|
| 384 |
+
239.53082356524857,
|
| 385 |
+
-1.9942851675381048
|
| 386 |
+
],
|
| 387 |
+
"type": "turn right",
|
| 388 |
+
"value": 30,
|
| 389 |
+
"yaw": 1.0471975511965979
|
| 390 |
+
}
|
| 391 |
+
}
|
| 392 |
+
{
|
| 393 |
+
"action": {
|
| 394 |
+
"imageid": 30,
|
| 395 |
+
"pos": [
|
| 396 |
+
1242.0696598694021,
|
| 397 |
+
239.53082356524857,
|
| 398 |
+
-1.9942851675381048
|
| 399 |
+
],
|
| 400 |
+
"type": "turn right",
|
| 401 |
+
"value": 30,
|
| 402 |
+
"yaw": 0.5235987755982989
|
| 403 |
+
}
|
| 404 |
+
}
|
| 405 |
+
{
|
| 406 |
+
"action": {
|
| 407 |
+
"imageid": 31,
|
| 408 |
+
"pos": [
|
| 409 |
+
1242.0696598694021,
|
| 410 |
+
239.53082356524857,
|
| 411 |
+
-1.9942851675381048
|
| 412 |
+
],
|
| 413 |
+
"type": "turn right",
|
| 414 |
+
"value": 30,
|
| 415 |
+
"yaw": 0.0
|
| 416 |
+
}
|
| 417 |
+
}
|
| 418 |
+
{
|
| 419 |
+
"action": {
|
| 420 |
+
"imageid": 32,
|
| 421 |
+
"pos": [
|
| 422 |
+
1242.0696598694021,
|
| 423 |
+
239.53082356524857,
|
| 424 |
+
-1.9942851675381048
|
| 425 |
+
],
|
| 426 |
+
"type": "turn right",
|
| 427 |
+
"value": 30,
|
| 428 |
+
"yaw": -0.5235987755982987
|
| 429 |
+
}
|
| 430 |
+
}
|
| 431 |
+
{
|
| 432 |
+
"action": {
|
| 433 |
+
"imageid": 33,
|
| 434 |
+
"pos": [
|
| 435 |
+
1242.0696598694021,
|
| 436 |
+
239.53082356524857,
|
| 437 |
+
-1.9942851675381048
|
| 438 |
+
],
|
| 439 |
+
"type": "turn right",
|
| 440 |
+
"value": 30,
|
| 441 |
+
"yaw": -1.0471975511965974
|
| 442 |
+
}
|
| 443 |
+
}
|
| 444 |
+
{
|
| 445 |
+
"action": {
|
| 446 |
+
"imageid": 34,
|
| 447 |
+
"pos": [
|
| 448 |
+
1242.0696598694021,
|
| 449 |
+
239.53082356524857,
|
| 450 |
+
-1.9942851675381048
|
| 451 |
+
],
|
| 452 |
+
"type": "go straight",
|
| 453 |
+
"value": 3,
|
| 454 |
+
"yaw": -1.0471975511965979
|
| 455 |
+
}
|
| 456 |
+
}
|
| 457 |
+
{
|
| 458 |
+
"action": {
|
| 459 |
+
"imageid": 35,
|
| 460 |
+
"pos": [
|
| 461 |
+
1243.5696598694021,
|
| 462 |
+
236.93274735389525,
|
| 463 |
+
-1.9942851675381048
|
| 464 |
+
],
|
| 465 |
+
"type": "go straight",
|
| 466 |
+
"value": 3,
|
| 467 |
+
"yaw": -1.0471975511965979
|
| 468 |
+
}
|
| 469 |
+
}
|
| 470 |
+
{
|
| 471 |
+
"action": {
|
| 472 |
+
"imageid": 36,
|
| 473 |
+
"pos": [
|
| 474 |
+
1245.0696598694021,
|
| 475 |
+
234.33467114254194,
|
| 476 |
+
-1.9942851675381048
|
| 477 |
+
],
|
| 478 |
+
"type": "go straight",
|
| 479 |
+
"value": 3,
|
| 480 |
+
"yaw": -1.0471975511965979
|
| 481 |
+
}
|
| 482 |
+
}
|
| 483 |
+
{
|
| 484 |
+
"action": {
|
| 485 |
+
"imageid": 37,
|
| 486 |
+
"pos": [
|
| 487 |
+
1246.5696598694021,
|
| 488 |
+
231.73659493118862,
|
| 489 |
+
-1.9942851675381048
|
| 490 |
+
],
|
| 491 |
+
"type": "go straight",
|
| 492 |
+
"value": 3,
|
| 493 |
+
"yaw": -1.0471975511965979
|
| 494 |
+
}
|
| 495 |
+
}
|
| 496 |
+
{
|
| 497 |
+
"action": {
|
| 498 |
+
"imageid": 38,
|
| 499 |
+
"pos": [
|
| 500 |
+
1248.0696598694021,
|
| 501 |
+
229.1385187198353,
|
| 502 |
+
-1.9942851675381048
|
| 503 |
+
],
|
| 504 |
+
"type": "go straight",
|
| 505 |
+
"value": 3,
|
| 506 |
+
"yaw": -1.0471975511965979
|
| 507 |
+
}
|
| 508 |
+
}
|
| 509 |
+
{
|
| 510 |
+
"action": {
|
| 511 |
+
"imageid": 39,
|
| 512 |
+
"pos": [
|
| 513 |
+
1249.5696598694021,
|
| 514 |
+
226.540442508482,
|
| 515 |
+
-1.9942851675381048
|
| 516 |
+
],
|
| 517 |
+
"type": "go straight",
|
| 518 |
+
"value": 3,
|
| 519 |
+
"yaw": -1.0471975511965979
|
| 520 |
+
}
|
| 521 |
+
}
|
| 522 |
+
{
|
| 523 |
+
"action": {
|
| 524 |
+
"imageid": 40,
|
| 525 |
+
"pos": [
|
| 526 |
+
1251.0696598694021,
|
| 527 |
+
223.94236629712867,
|
| 528 |
+
-1.9942851675381048
|
| 529 |
+
],
|
| 530 |
+
"type": "go straight",
|
| 531 |
+
"value": 3,
|
| 532 |
+
"yaw": -1.0471975511965979
|
| 533 |
+
}
|
| 534 |
+
}
|
| 535 |
+
{
|
| 536 |
+
"action": {
|
| 537 |
+
"imageid": 41,
|
| 538 |
+
"pos": [
|
| 539 |
+
1252.5696598694021,
|
| 540 |
+
221.34429008577536,
|
| 541 |
+
-1.9942851675381048
|
| 542 |
+
],
|
| 543 |
+
"type": "go straight",
|
| 544 |
+
"value": 3,
|
| 545 |
+
"yaw": -1.0471975511965979
|
| 546 |
+
}
|
| 547 |
+
}
|
| 548 |
+
{
|
| 549 |
+
"action": {
|
| 550 |
+
"imageid": 42,
|
| 551 |
+
"pos": [
|
| 552 |
+
1254.0696598694021,
|
| 553 |
+
218.74621387442204,
|
| 554 |
+
-1.9942851675381048
|
| 555 |
+
],
|
| 556 |
+
"type": "go straight",
|
| 557 |
+
"value": 3,
|
| 558 |
+
"yaw": -1.0471975511965979
|
| 559 |
+
}
|
| 560 |
+
}
|
| 561 |
+
{
|
| 562 |
+
"action": {
|
| 563 |
+
"imageid": 43,
|
| 564 |
+
"pos": [
|
| 565 |
+
1255.5696598694021,
|
| 566 |
+
216.14813766306872,
|
| 567 |
+
-1.9942851675381048
|
| 568 |
+
],
|
| 569 |
+
"type": "go straight",
|
| 570 |
+
"value": 3,
|
| 571 |
+
"yaw": -1.0471975511965979
|
| 572 |
+
}
|
| 573 |
+
}
|
| 574 |
+
{
|
| 575 |
+
"action": {
|
| 576 |
+
"imageid": 44,
|
| 577 |
+
"pos": [
|
| 578 |
+
1257.0696598694021,
|
| 579 |
+
213.5500614517154,
|
| 580 |
+
-1.9942851675381048
|
| 581 |
+
],
|
| 582 |
+
"type": "go straight",
|
| 583 |
+
"value": 3,
|
| 584 |
+
"yaw": -1.0471975511965979
|
| 585 |
+
}
|
| 586 |
+
}
|
| 587 |
+
{
|
| 588 |
+
"action": {
|
| 589 |
+
"imageid": 45,
|
| 590 |
+
"pos": [
|
| 591 |
+
1258.5696598694021,
|
| 592 |
+
210.9519852403621,
|
| 593 |
+
-1.9942851675381048
|
| 594 |
+
],
|
| 595 |
+
"type": "go straight",
|
| 596 |
+
"value": 3,
|
| 597 |
+
"yaw": -1.0471975511965979
|
| 598 |
+
}
|
| 599 |
+
}
|
| 600 |
+
{
|
| 601 |
+
"action": {
|
| 602 |
+
"imageid": 46,
|
| 603 |
+
"pos": [
|
| 604 |
+
1260.0696598694021,
|
| 605 |
+
208.35390902900878,
|
| 606 |
+
-1.9942851675381048
|
| 607 |
+
],
|
| 608 |
+
"type": "go straight",
|
| 609 |
+
"value": 3,
|
| 610 |
+
"yaw": -1.0471975511965979
|
| 611 |
+
}
|
| 612 |
+
}
|
| 613 |
+
{
|
| 614 |
+
"action": {
|
| 615 |
+
"imageid": 47,
|
| 616 |
+
"pos": [
|
| 617 |
+
1261.5696598694021,
|
| 618 |
+
205.75583281765546,
|
| 619 |
+
-1.9942851675381048
|
| 620 |
+
],
|
| 621 |
+
"type": "go straight",
|
| 622 |
+
"value": 3,
|
| 623 |
+
"yaw": -1.0471975511965979
|
| 624 |
+
}
|
| 625 |
+
}
|
| 626 |
+
{
|
| 627 |
+
"action": {
|
| 628 |
+
"imageid": 48,
|
| 629 |
+
"pos": [
|
| 630 |
+
1263.0696598694021,
|
| 631 |
+
203.15775660630214,
|
| 632 |
+
-1.9942851675381048
|
| 633 |
+
],
|
| 634 |
+
"type": "go straight",
|
| 635 |
+
"value": 3,
|
| 636 |
+
"yaw": -1.0471975511965979
|
| 637 |
+
}
|
| 638 |
+
}
|
| 639 |
+
{
|
| 640 |
+
"action": {
|
| 641 |
+
"imageid": 49,
|
| 642 |
+
"pos": [
|
| 643 |
+
1264.5696598694021,
|
| 644 |
+
200.55968039494883,
|
| 645 |
+
-1.9942851675381048
|
| 646 |
+
],
|
| 647 |
+
"type": "go straight",
|
| 648 |
+
"value": 3,
|
| 649 |
+
"yaw": -1.0471975511965979
|
| 650 |
+
}
|
| 651 |
+
}
|
| 652 |
+
{
|
| 653 |
+
"action": {
|
| 654 |
+
"imageid": 50,
|
| 655 |
+
"pos": [
|
| 656 |
+
1266.0696598694021,
|
| 657 |
+
197.9616041835955,
|
| 658 |
+
-1.9942851675381048
|
| 659 |
+
],
|
| 660 |
+
"type": "go straight",
|
| 661 |
+
"value": 3,
|
| 662 |
+
"yaw": -1.0471975511965979
|
| 663 |
+
}
|
| 664 |
+
}
|
| 665 |
+
{
|
| 666 |
+
"action": {
|
| 667 |
+
"imageid": 51,
|
| 668 |
+
"pos": [
|
| 669 |
+
1267.5696598694021,
|
| 670 |
+
195.3635279722422,
|
| 671 |
+
-1.9942851675381048
|
| 672 |
+
],
|
| 673 |
+
"type": "turn right",
|
| 674 |
+
"value": 30,
|
| 675 |
+
"yaw": -1.0471975511965979
|
| 676 |
+
}
|
| 677 |
+
}
|
| 678 |
+
{
|
| 679 |
+
"action": {
|
| 680 |
+
"imageid": 52,
|
| 681 |
+
"pos": [
|
| 682 |
+
1267.5696598694021,
|
| 683 |
+
195.3635279722422,
|
| 684 |
+
-1.9942851675381048
|
| 685 |
+
],
|
| 686 |
+
"type": "go straight",
|
| 687 |
+
"value": 3,
|
| 688 |
+
"yaw": -1.5707963267948966
|
| 689 |
+
}
|
| 690 |
+
}
|
| 691 |
+
{
|
| 692 |
+
"action": {
|
| 693 |
+
"imageid": 53,
|
| 694 |
+
"pos": [
|
| 695 |
+
1267.5696598694021,
|
| 696 |
+
192.3635279722422,
|
| 697 |
+
-1.9942851675381048
|
| 698 |
+
],
|
| 699 |
+
"type": "go straight",
|
| 700 |
+
"value": 3,
|
| 701 |
+
"yaw": -1.5707963267948966
|
| 702 |
+
}
|
| 703 |
+
}
|
| 704 |
+
{
|
| 705 |
+
"action": {
|
| 706 |
+
"imageid": 54,
|
| 707 |
+
"pos": [
|
| 708 |
+
1267.5696598694021,
|
| 709 |
+
189.3635279722422,
|
| 710 |
+
-1.9942851675381048
|
| 711 |
+
],
|
| 712 |
+
"type": "go straight",
|
| 713 |
+
"value": 3,
|
| 714 |
+
"yaw": -1.5707963267948966
|
| 715 |
+
}
|
| 716 |
+
}
|
| 717 |
+
{
|
| 718 |
+
"action": {
|
| 719 |
+
"imageid": 55,
|
| 720 |
+
"pos": [
|
| 721 |
+
1267.5696598694021,
|
| 722 |
+
186.3635279722422,
|
| 723 |
+
-1.9942851675381048
|
| 724 |
+
],
|
| 725 |
+
"type": "go straight",
|
| 726 |
+
"value": 3,
|
| 727 |
+
"yaw": -1.5707963267948966
|
| 728 |
+
}
|
| 729 |
+
}
|
| 730 |
+
{
|
| 731 |
+
"action": {
|
| 732 |
+
"imageid": 56,
|
| 733 |
+
"pos": [
|
| 734 |
+
1267.5696598694021,
|
| 735 |
+
183.3635279722422,
|
| 736 |
+
-1.9942851675381048
|
| 737 |
+
],
|
| 738 |
+
"type": "go straight",
|
| 739 |
+
"value": 3,
|
| 740 |
+
"yaw": -1.5707963267948966
|
| 741 |
+
}
|
| 742 |
+
}
|
| 743 |
+
{
|
| 744 |
+
"action": {
|
| 745 |
+
"imageid": 57,
|
| 746 |
+
"pos": [
|
| 747 |
+
1267.5696598694021,
|
| 748 |
+
180.3635279722422,
|
| 749 |
+
-1.9942851675381048
|
| 750 |
+
],
|
| 751 |
+
"type": "go straight",
|
| 752 |
+
"value": 3,
|
| 753 |
+
"yaw": -1.5707963267948966
|
| 754 |
+
}
|
| 755 |
+
}
|
| 756 |
+
{
|
| 757 |
+
"action": {
|
| 758 |
+
"imageid": 58,
|
| 759 |
+
"pos": [
|
| 760 |
+
1267.5696598694021,
|
| 761 |
+
177.3635279722422,
|
| 762 |
+
-1.9942851675381048
|
| 763 |
+
],
|
| 764 |
+
"type": "stop",
|
| 765 |
+
"value": 0,
|
| 766 |
+
"yaw": -1.5707963267948966
|
| 767 |
+
}
|
| 768 |
+
}
|
| 769 |
+
{
|
| 770 |
+
"aim_landmark": {
|
| 771 |
+
"color": "test",
|
| 772 |
+
"feature": "test",
|
| 773 |
+
"position": [
|
| 774 |
+
1269.6296508789064,
|
| 775 |
+
175.0053077697754,
|
| 776 |
+
0.0
|
| 777 |
+
],
|
| 778 |
+
"shape": "test",
|
| 779 |
+
"size": "test",
|
| 780 |
+
"type": "building"
|
| 781 |
+
}
|
| 782 |
+
}
|
Image/env_gs_nwpu02/astar_data/long/2025-1-16_14-18-32_861021530/pose.jsonl
ADDED
|
@@ -0,0 +1,704 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
702.732217441335,
|
| 6 |
+
-59.534270914077055,
|
| 7 |
+
2.8987381465000484
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 2.0943951023931953
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
701.232217441335,
|
| 19 |
+
-56.93619470272374,
|
| 20 |
+
2.8987381465000484
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 2.0943951023931953
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
699.732217441335,
|
| 32 |
+
-54.33811849137042,
|
| 33 |
+
2.8987381465000484
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 2.0943951023931953
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
698.232217441335,
|
| 45 |
+
-51.74004228001711,
|
| 46 |
+
2.8987381465000484
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 2.0943951023931953
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
696.732217441335,
|
| 58 |
+
-49.14196606866379,
|
| 59 |
+
2.8987381465000484
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 2.0943951023931953
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
695.232217441335,
|
| 71 |
+
-46.543889857310475,
|
| 72 |
+
2.8987381465000484
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 2.0943951023931953
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
693.732217441335,
|
| 84 |
+
-43.94581364595716,
|
| 85 |
+
2.8987381465000484
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 2.0943951023931953
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
692.232217441335,
|
| 97 |
+
-41.34773743460384,
|
| 98 |
+
2.8987381465000484
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 2.0943951023931953
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
690.732217441335,
|
| 110 |
+
-38.74966122325053,
|
| 111 |
+
2.8987381465000484
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 2.0943951023931953
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
689.232217441335,
|
| 123 |
+
-36.15158501189721,
|
| 124 |
+
2.8987381465000484
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 2.0943951023931953
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
687.732217441335,
|
| 136 |
+
-33.553508800543895,
|
| 137 |
+
2.8987381465000484
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 2.0943951023931953
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
686.232217441335,
|
| 149 |
+
-30.95543258919058,
|
| 150 |
+
2.8987381465000484
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 2.0943951023931953
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
684.732217441335,
|
| 162 |
+
-28.357356377837263,
|
| 163 |
+
2.8987381465000484
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 2.0943951023931953
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
683.232217441335,
|
| 175 |
+
-25.759280166483947,
|
| 176 |
+
2.8987381465000484
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 2.0943951023931953
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
681.732217441335,
|
| 188 |
+
-23.16120395513063,
|
| 189 |
+
2.8987381465000484
|
| 190 |
+
],
|
| 191 |
+
"type": "turn left",
|
| 192 |
+
"value": 30,
|
| 193 |
+
"yaw": 2.0943951023931953
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
681.732217441335,
|
| 201 |
+
-23.16120395513063,
|
| 202 |
+
2.8987381465000484
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 2.617993877991494
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
679.1341412299817,
|
| 214 |
+
-21.66120395513063,
|
| 215 |
+
2.8987381465000484
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 2.6179938779915037
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
676.5360650186283,
|
| 227 |
+
-20.16120395513063,
|
| 228 |
+
2.8987381465000484
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 2.6179938779915037
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
673.9379888072749,
|
| 240 |
+
-18.66120395513063,
|
| 241 |
+
2.8987381465000484
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 2.6179938779915037
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
671.3399125959215,
|
| 253 |
+
-17.16120395513063,
|
| 254 |
+
2.8987381465000484
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": 2.6179938779915037
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
668.7418363845682,
|
| 266 |
+
-15.661203955130631,
|
| 267 |
+
2.8987381465000484
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": 2.6179938779915037
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
666.1437601732148,
|
| 279 |
+
-14.161203955130631,
|
| 280 |
+
2.8987381465000484
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": 2.6179938779915037
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"aim_landmark": {
|
| 289 |
+
"color": "test",
|
| 290 |
+
"feature": "test",
|
| 291 |
+
"position": [
|
| 292 |
+
661.0575393676759,
|
| 293 |
+
-10.88031406402588,
|
| 294 |
+
0.0
|
| 295 |
+
],
|
| 296 |
+
"shape": "test",
|
| 297 |
+
"size": "test",
|
| 298 |
+
"type": "building"
|
| 299 |
+
}
|
| 300 |
+
}
|
| 301 |
+
{
|
| 302 |
+
"action": {
|
| 303 |
+
"imageid": 23,
|
| 304 |
+
"pos": [
|
| 305 |
+
663.5456839618614,
|
| 306 |
+
-12.661203955130631,
|
| 307 |
+
2.8987381465000484
|
| 308 |
+
],
|
| 309 |
+
"type": "turn right",
|
| 310 |
+
"value": 30,
|
| 311 |
+
"yaw": 2.6179938779915037
|
| 312 |
+
}
|
| 313 |
+
}
|
| 314 |
+
{
|
| 315 |
+
"action": {
|
| 316 |
+
"imageid": 24,
|
| 317 |
+
"pos": [
|
| 318 |
+
663.5456839618614,
|
| 319 |
+
-12.661203955130631,
|
| 320 |
+
2.8987381465000484
|
| 321 |
+
],
|
| 322 |
+
"type": "turn right",
|
| 323 |
+
"value": 30,
|
| 324 |
+
"yaw": 2.094395102393205
|
| 325 |
+
}
|
| 326 |
+
}
|
| 327 |
+
{
|
| 328 |
+
"action": {
|
| 329 |
+
"imageid": 25,
|
| 330 |
+
"pos": [
|
| 331 |
+
663.5456839618614,
|
| 332 |
+
-12.661203955130631,
|
| 333 |
+
2.8987381465000484
|
| 334 |
+
],
|
| 335 |
+
"type": "turn right",
|
| 336 |
+
"value": 30,
|
| 337 |
+
"yaw": 1.570796326794906
|
| 338 |
+
}
|
| 339 |
+
}
|
| 340 |
+
{
|
| 341 |
+
"action": {
|
| 342 |
+
"imageid": 26,
|
| 343 |
+
"pos": [
|
| 344 |
+
663.5456839618614,
|
| 345 |
+
-12.661203955130631,
|
| 346 |
+
2.8987381465000484
|
| 347 |
+
],
|
| 348 |
+
"type": "turn right",
|
| 349 |
+
"value": 30,
|
| 350 |
+
"yaw": 1.0471975511966072
|
| 351 |
+
}
|
| 352 |
+
}
|
| 353 |
+
{
|
| 354 |
+
"action": {
|
| 355 |
+
"imageid": 27,
|
| 356 |
+
"pos": [
|
| 357 |
+
663.5456839618614,
|
| 358 |
+
-12.661203955130631,
|
| 359 |
+
2.8987381465000484
|
| 360 |
+
],
|
| 361 |
+
"type": "turn right",
|
| 362 |
+
"value": 30,
|
| 363 |
+
"yaw": 0.5235987755983085
|
| 364 |
+
}
|
| 365 |
+
}
|
| 366 |
+
{
|
| 367 |
+
"action": {
|
| 368 |
+
"imageid": 28,
|
| 369 |
+
"pos": [
|
| 370 |
+
663.5456839618614,
|
| 371 |
+
-12.661203955130631,
|
| 372 |
+
2.8987381465000484
|
| 373 |
+
],
|
| 374 |
+
"type": "turn right",
|
| 375 |
+
"value": 30,
|
| 376 |
+
"yaw": 9.769962616701378e-15
|
| 377 |
+
}
|
| 378 |
+
}
|
| 379 |
+
{
|
| 380 |
+
"action": {
|
| 381 |
+
"imageid": 29,
|
| 382 |
+
"pos": [
|
| 383 |
+
663.5456839618614,
|
| 384 |
+
-12.661203955130631,
|
| 385 |
+
2.8987381465000484
|
| 386 |
+
],
|
| 387 |
+
"type": "go straight",
|
| 388 |
+
"value": 3,
|
| 389 |
+
"yaw": 0.0
|
| 390 |
+
}
|
| 391 |
+
}
|
| 392 |
+
{
|
| 393 |
+
"action": {
|
| 394 |
+
"imageid": 30,
|
| 395 |
+
"pos": [
|
| 396 |
+
666.5456839618614,
|
| 397 |
+
-12.661203955130631,
|
| 398 |
+
2.8987381465000484
|
| 399 |
+
],
|
| 400 |
+
"type": "go straight",
|
| 401 |
+
"value": 3,
|
| 402 |
+
"yaw": 0.0
|
| 403 |
+
}
|
| 404 |
+
}
|
| 405 |
+
{
|
| 406 |
+
"action": {
|
| 407 |
+
"imageid": 31,
|
| 408 |
+
"pos": [
|
| 409 |
+
669.5456839618614,
|
| 410 |
+
-12.661203955130631,
|
| 411 |
+
2.8987381465000484
|
| 412 |
+
],
|
| 413 |
+
"type": "go straight",
|
| 414 |
+
"value": 3,
|
| 415 |
+
"yaw": 0.0
|
| 416 |
+
}
|
| 417 |
+
}
|
| 418 |
+
{
|
| 419 |
+
"action": {
|
| 420 |
+
"imageid": 32,
|
| 421 |
+
"pos": [
|
| 422 |
+
672.5456839618614,
|
| 423 |
+
-12.661203955130631,
|
| 424 |
+
2.8987381465000484
|
| 425 |
+
],
|
| 426 |
+
"type": "go straight",
|
| 427 |
+
"value": 3,
|
| 428 |
+
"yaw": 0.0
|
| 429 |
+
}
|
| 430 |
+
}
|
| 431 |
+
{
|
| 432 |
+
"action": {
|
| 433 |
+
"imageid": 33,
|
| 434 |
+
"pos": [
|
| 435 |
+
675.5456839618614,
|
| 436 |
+
-12.661203955130631,
|
| 437 |
+
2.8987381465000484
|
| 438 |
+
],
|
| 439 |
+
"type": "go straight",
|
| 440 |
+
"value": 3,
|
| 441 |
+
"yaw": 0.0
|
| 442 |
+
}
|
| 443 |
+
}
|
| 444 |
+
{
|
| 445 |
+
"action": {
|
| 446 |
+
"imageid": 34,
|
| 447 |
+
"pos": [
|
| 448 |
+
678.5456839618614,
|
| 449 |
+
-12.661203955130631,
|
| 450 |
+
2.8987381465000484
|
| 451 |
+
],
|
| 452 |
+
"type": "go straight",
|
| 453 |
+
"value": 3,
|
| 454 |
+
"yaw": 0.0
|
| 455 |
+
}
|
| 456 |
+
}
|
| 457 |
+
{
|
| 458 |
+
"action": {
|
| 459 |
+
"imageid": 35,
|
| 460 |
+
"pos": [
|
| 461 |
+
681.5456839618614,
|
| 462 |
+
-12.661203955130631,
|
| 463 |
+
2.8987381465000484
|
| 464 |
+
],
|
| 465 |
+
"type": "go straight",
|
| 466 |
+
"value": 3,
|
| 467 |
+
"yaw": 0.0
|
| 468 |
+
}
|
| 469 |
+
}
|
| 470 |
+
{
|
| 471 |
+
"action": {
|
| 472 |
+
"imageid": 36,
|
| 473 |
+
"pos": [
|
| 474 |
+
684.5456839618614,
|
| 475 |
+
-12.661203955130631,
|
| 476 |
+
2.8987381465000484
|
| 477 |
+
],
|
| 478 |
+
"type": "go straight",
|
| 479 |
+
"value": 3,
|
| 480 |
+
"yaw": 0.0
|
| 481 |
+
}
|
| 482 |
+
}
|
| 483 |
+
{
|
| 484 |
+
"action": {
|
| 485 |
+
"imageid": 37,
|
| 486 |
+
"pos": [
|
| 487 |
+
687.5456839618614,
|
| 488 |
+
-12.661203955130631,
|
| 489 |
+
2.8987381465000484
|
| 490 |
+
],
|
| 491 |
+
"type": "go straight",
|
| 492 |
+
"value": 3,
|
| 493 |
+
"yaw": 0.0
|
| 494 |
+
}
|
| 495 |
+
}
|
| 496 |
+
{
|
| 497 |
+
"action": {
|
| 498 |
+
"imageid": 38,
|
| 499 |
+
"pos": [
|
| 500 |
+
690.5456839618614,
|
| 501 |
+
-12.661203955130631,
|
| 502 |
+
2.8987381465000484
|
| 503 |
+
],
|
| 504 |
+
"type": "go straight",
|
| 505 |
+
"value": 3,
|
| 506 |
+
"yaw": 0.0
|
| 507 |
+
}
|
| 508 |
+
}
|
| 509 |
+
{
|
| 510 |
+
"action": {
|
| 511 |
+
"imageid": 39,
|
| 512 |
+
"pos": [
|
| 513 |
+
693.5456839618614,
|
| 514 |
+
-12.661203955130631,
|
| 515 |
+
2.8987381465000484
|
| 516 |
+
],
|
| 517 |
+
"type": "go straight",
|
| 518 |
+
"value": 3,
|
| 519 |
+
"yaw": 0.0
|
| 520 |
+
}
|
| 521 |
+
}
|
| 522 |
+
{
|
| 523 |
+
"action": {
|
| 524 |
+
"imageid": 40,
|
| 525 |
+
"pos": [
|
| 526 |
+
696.5456839618614,
|
| 527 |
+
-12.661203955130631,
|
| 528 |
+
2.8987381465000484
|
| 529 |
+
],
|
| 530 |
+
"type": "go straight",
|
| 531 |
+
"value": 3,
|
| 532 |
+
"yaw": 0.0
|
| 533 |
+
}
|
| 534 |
+
}
|
| 535 |
+
{
|
| 536 |
+
"action": {
|
| 537 |
+
"imageid": 41,
|
| 538 |
+
"pos": [
|
| 539 |
+
699.5456839618614,
|
| 540 |
+
-12.661203955130631,
|
| 541 |
+
2.8987381465000484
|
| 542 |
+
],
|
| 543 |
+
"type": "go straight",
|
| 544 |
+
"value": 3,
|
| 545 |
+
"yaw": 0.0
|
| 546 |
+
}
|
| 547 |
+
}
|
| 548 |
+
{
|
| 549 |
+
"action": {
|
| 550 |
+
"imageid": 42,
|
| 551 |
+
"pos": [
|
| 552 |
+
702.5456839618614,
|
| 553 |
+
-12.661203955130631,
|
| 554 |
+
2.8987381465000484
|
| 555 |
+
],
|
| 556 |
+
"type": "go straight",
|
| 557 |
+
"value": 3,
|
| 558 |
+
"yaw": 0.0
|
| 559 |
+
}
|
| 560 |
+
}
|
| 561 |
+
{
|
| 562 |
+
"action": {
|
| 563 |
+
"imageid": 43,
|
| 564 |
+
"pos": [
|
| 565 |
+
705.5456839618614,
|
| 566 |
+
-12.661203955130631,
|
| 567 |
+
2.8987381465000484
|
| 568 |
+
],
|
| 569 |
+
"type": "go straight",
|
| 570 |
+
"value": 3,
|
| 571 |
+
"yaw": 0.0
|
| 572 |
+
}
|
| 573 |
+
}
|
| 574 |
+
{
|
| 575 |
+
"action": {
|
| 576 |
+
"imageid": 44,
|
| 577 |
+
"pos": [
|
| 578 |
+
708.5456839618614,
|
| 579 |
+
-12.661203955130631,
|
| 580 |
+
2.8987381465000484
|
| 581 |
+
],
|
| 582 |
+
"type": "go straight",
|
| 583 |
+
"value": 3,
|
| 584 |
+
"yaw": 0.0
|
| 585 |
+
}
|
| 586 |
+
}
|
| 587 |
+
{
|
| 588 |
+
"action": {
|
| 589 |
+
"imageid": 45,
|
| 590 |
+
"pos": [
|
| 591 |
+
711.5456839618614,
|
| 592 |
+
-12.661203955130631,
|
| 593 |
+
2.8987381465000484
|
| 594 |
+
],
|
| 595 |
+
"type": "go straight",
|
| 596 |
+
"value": 3,
|
| 597 |
+
"yaw": 0.0
|
| 598 |
+
}
|
| 599 |
+
}
|
| 600 |
+
{
|
| 601 |
+
"action": {
|
| 602 |
+
"imageid": 46,
|
| 603 |
+
"pos": [
|
| 604 |
+
714.5456839618614,
|
| 605 |
+
-12.661203955130631,
|
| 606 |
+
2.8987381465000484
|
| 607 |
+
],
|
| 608 |
+
"type": "go straight",
|
| 609 |
+
"value": 3,
|
| 610 |
+
"yaw": 0.0
|
| 611 |
+
}
|
| 612 |
+
}
|
| 613 |
+
{
|
| 614 |
+
"action": {
|
| 615 |
+
"imageid": 47,
|
| 616 |
+
"pos": [
|
| 617 |
+
717.5456839618614,
|
| 618 |
+
-12.661203955130631,
|
| 619 |
+
2.8987381465000484
|
| 620 |
+
],
|
| 621 |
+
"type": "go straight",
|
| 622 |
+
"value": 3,
|
| 623 |
+
"yaw": 0.0
|
| 624 |
+
}
|
| 625 |
+
}
|
| 626 |
+
{
|
| 627 |
+
"action": {
|
| 628 |
+
"imageid": 48,
|
| 629 |
+
"pos": [
|
| 630 |
+
720.5456839618614,
|
| 631 |
+
-12.661203955130631,
|
| 632 |
+
2.8987381465000484
|
| 633 |
+
],
|
| 634 |
+
"type": "turn right",
|
| 635 |
+
"value": 30,
|
| 636 |
+
"yaw": 0.0
|
| 637 |
+
}
|
| 638 |
+
}
|
| 639 |
+
{
|
| 640 |
+
"action": {
|
| 641 |
+
"imageid": 49,
|
| 642 |
+
"pos": [
|
| 643 |
+
720.5456839618614,
|
| 644 |
+
-12.661203955130631,
|
| 645 |
+
2.8987381465000484
|
| 646 |
+
],
|
| 647 |
+
"type": "turn right",
|
| 648 |
+
"value": 30,
|
| 649 |
+
"yaw": -0.5235987755982988
|
| 650 |
+
}
|
| 651 |
+
}
|
| 652 |
+
{
|
| 653 |
+
"action": {
|
| 654 |
+
"imageid": 50,
|
| 655 |
+
"pos": [
|
| 656 |
+
720.5456839618614,
|
| 657 |
+
-12.661203955130631,
|
| 658 |
+
2.8987381465000484
|
| 659 |
+
],
|
| 660 |
+
"type": "go straight",
|
| 661 |
+
"value": 3,
|
| 662 |
+
"yaw": -1.0471975511965976
|
| 663 |
+
}
|
| 664 |
+
}
|
| 665 |
+
{
|
| 666 |
+
"action": {
|
| 667 |
+
"imageid": 51,
|
| 668 |
+
"pos": [
|
| 669 |
+
722.0456839618614,
|
| 670 |
+
-15.259280166483947,
|
| 671 |
+
2.8987381465000484
|
| 672 |
+
],
|
| 673 |
+
"type": "go straight",
|
| 674 |
+
"value": 3,
|
| 675 |
+
"yaw": -1.0471975511965979
|
| 676 |
+
}
|
| 677 |
+
}
|
| 678 |
+
{
|
| 679 |
+
"action": {
|
| 680 |
+
"imageid": 52,
|
| 681 |
+
"pos": [
|
| 682 |
+
723.5456839618614,
|
| 683 |
+
-17.857356377837263,
|
| 684 |
+
2.8987381465000484
|
| 685 |
+
],
|
| 686 |
+
"type": "stop",
|
| 687 |
+
"value": 0,
|
| 688 |
+
"yaw": -1.0471975511965979
|
| 689 |
+
}
|
| 690 |
+
}
|
| 691 |
+
{
|
| 692 |
+
"aim_landmark": {
|
| 693 |
+
"color": "test",
|
| 694 |
+
"feature": "test",
|
| 695 |
+
"position": [
|
| 696 |
+
727.4186401367188,
|
| 697 |
+
-18.7204083442688,
|
| 698 |
+
0.0
|
| 699 |
+
],
|
| 700 |
+
"shape": "test",
|
| 701 |
+
"size": "test",
|
| 702 |
+
"type": "building"
|
| 703 |
+
}
|
| 704 |
+
}
|
Image/env_gs_nwpu02/astar_data/long/2025-1-16_14-2-11_304089172/pose.jsonl
ADDED
|
@@ -0,0 +1,548 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
303.4051493733327,
|
| 6 |
+
114.16223524165363,
|
| 7 |
+
-6.07089528179559
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 2.6179938779914944
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
300.80707316197936,
|
| 19 |
+
115.66223524165363,
|
| 20 |
+
-6.07089528179559
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 2.6179938779914944
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
298.20899695062604,
|
| 32 |
+
117.16223524165363,
|
| 33 |
+
-6.07089528179559
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 2.6179938779914944
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
295.61092073927273,
|
| 45 |
+
118.66223524165363,
|
| 46 |
+
-6.07089528179559
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 2.6179938779914944
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
293.0128445279194,
|
| 58 |
+
120.16223524165363,
|
| 59 |
+
-6.07089528179559
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 2.6179938779914944
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
290.4147683165661,
|
| 71 |
+
121.66223524165363,
|
| 72 |
+
-6.07089528179559
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 2.6179938779914944
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
287.8166921052128,
|
| 84 |
+
123.16223524165363,
|
| 85 |
+
-6.07089528179559
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 2.6179938779914944
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
285.21861589385946,
|
| 97 |
+
124.66223524165363,
|
| 98 |
+
-6.07089528179559
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 2.6179938779914944
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
282.62053968250615,
|
| 110 |
+
126.16223524165363,
|
| 111 |
+
-6.07089528179559
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 2.6179938779914944
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
280.02246347115283,
|
| 123 |
+
127.66223524165363,
|
| 124 |
+
-6.07089528179559
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 2.6179938779914944
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
277.4243872597995,
|
| 136 |
+
129.16223524165363,
|
| 137 |
+
-6.07089528179559
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 2.6179938779914944
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
274.8263110484462,
|
| 149 |
+
130.66223524165363,
|
| 150 |
+
-6.07089528179559
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 2.6179938779914944
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
272.2282348370929,
|
| 162 |
+
132.16223524165363,
|
| 163 |
+
-6.07089528179559
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 2.6179938779914944
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
269.63015862573957,
|
| 175 |
+
133.66223524165363,
|
| 176 |
+
-6.07089528179559
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 2.6179938779914944
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
267.03208241438625,
|
| 188 |
+
135.16223524165363,
|
| 189 |
+
-6.07089528179559
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 2.6179938779914944
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
264.43400620303294,
|
| 201 |
+
136.66223524165363,
|
| 202 |
+
-6.07089528179559
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 2.6179938779914944
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
261.8359299916796,
|
| 214 |
+
138.16223524165363,
|
| 215 |
+
-6.07089528179559
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 2.6179938779914944
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"aim_landmark": {
|
| 224 |
+
"color": "test",
|
| 225 |
+
"feature": "test",
|
| 226 |
+
"position": [
|
| 227 |
+
258.26647663116455,
|
| 228 |
+
142.7095600128174,
|
| 229 |
+
0.0
|
| 230 |
+
],
|
| 231 |
+
"shape": "test",
|
| 232 |
+
"size": "test",
|
| 233 |
+
"type": "building"
|
| 234 |
+
}
|
| 235 |
+
}
|
| 236 |
+
{
|
| 237 |
+
"action": {
|
| 238 |
+
"imageid": 18,
|
| 239 |
+
"pos": [
|
| 240 |
+
259.2378537803263,
|
| 241 |
+
139.66223524165363,
|
| 242 |
+
-6.07089528179559
|
| 243 |
+
],
|
| 244 |
+
"type": "turn right",
|
| 245 |
+
"value": 30,
|
| 246 |
+
"yaw": 2.6179938779914944
|
| 247 |
+
}
|
| 248 |
+
}
|
| 249 |
+
{
|
| 250 |
+
"action": {
|
| 251 |
+
"imageid": 19,
|
| 252 |
+
"pos": [
|
| 253 |
+
259.2378537803263,
|
| 254 |
+
139.66223524165363,
|
| 255 |
+
-6.07089528179559
|
| 256 |
+
],
|
| 257 |
+
"type": "turn right",
|
| 258 |
+
"value": 30,
|
| 259 |
+
"yaw": 2.0943951023931957
|
| 260 |
+
}
|
| 261 |
+
}
|
| 262 |
+
{
|
| 263 |
+
"action": {
|
| 264 |
+
"imageid": 20,
|
| 265 |
+
"pos": [
|
| 266 |
+
259.2378537803263,
|
| 267 |
+
139.66223524165363,
|
| 268 |
+
-6.07089528179559
|
| 269 |
+
],
|
| 270 |
+
"type": "go straight",
|
| 271 |
+
"value": 3,
|
| 272 |
+
"yaw": 2.0943951023931953
|
| 273 |
+
}
|
| 274 |
+
}
|
| 275 |
+
{
|
| 276 |
+
"action": {
|
| 277 |
+
"imageid": 21,
|
| 278 |
+
"pos": [
|
| 279 |
+
257.7378537803263,
|
| 280 |
+
142.26031145300695,
|
| 281 |
+
-6.07089528179559
|
| 282 |
+
],
|
| 283 |
+
"type": "go straight",
|
| 284 |
+
"value": 3,
|
| 285 |
+
"yaw": 2.0943951023931953
|
| 286 |
+
}
|
| 287 |
+
}
|
| 288 |
+
{
|
| 289 |
+
"action": {
|
| 290 |
+
"imageid": 22,
|
| 291 |
+
"pos": [
|
| 292 |
+
256.2378537803263,
|
| 293 |
+
144.85838766436027,
|
| 294 |
+
-6.07089528179559
|
| 295 |
+
],
|
| 296 |
+
"type": "go straight",
|
| 297 |
+
"value": 3,
|
| 298 |
+
"yaw": 2.0943951023931953
|
| 299 |
+
}
|
| 300 |
+
}
|
| 301 |
+
{
|
| 302 |
+
"action": {
|
| 303 |
+
"imageid": 23,
|
| 304 |
+
"pos": [
|
| 305 |
+
254.7378537803263,
|
| 306 |
+
147.45646387571358,
|
| 307 |
+
-6.07089528179559
|
| 308 |
+
],
|
| 309 |
+
"type": "go straight",
|
| 310 |
+
"value": 3,
|
| 311 |
+
"yaw": 2.0943951023931953
|
| 312 |
+
}
|
| 313 |
+
}
|
| 314 |
+
{
|
| 315 |
+
"action": {
|
| 316 |
+
"imageid": 24,
|
| 317 |
+
"pos": [
|
| 318 |
+
253.2378537803263,
|
| 319 |
+
150.0545400870669,
|
| 320 |
+
-6.07089528179559
|
| 321 |
+
],
|
| 322 |
+
"type": "go straight",
|
| 323 |
+
"value": 3,
|
| 324 |
+
"yaw": 2.0943951023931953
|
| 325 |
+
}
|
| 326 |
+
}
|
| 327 |
+
{
|
| 328 |
+
"action": {
|
| 329 |
+
"imageid": 25,
|
| 330 |
+
"pos": [
|
| 331 |
+
251.7378537803263,
|
| 332 |
+
152.6526162984202,
|
| 333 |
+
-6.07089528179559
|
| 334 |
+
],
|
| 335 |
+
"type": "go straight",
|
| 336 |
+
"value": 3,
|
| 337 |
+
"yaw": 2.0943951023931953
|
| 338 |
+
}
|
| 339 |
+
}
|
| 340 |
+
{
|
| 341 |
+
"action": {
|
| 342 |
+
"imageid": 26,
|
| 343 |
+
"pos": [
|
| 344 |
+
250.2378537803263,
|
| 345 |
+
155.25069250977353,
|
| 346 |
+
-6.07089528179559
|
| 347 |
+
],
|
| 348 |
+
"type": "go straight",
|
| 349 |
+
"value": 3,
|
| 350 |
+
"yaw": 2.0943951023931953
|
| 351 |
+
}
|
| 352 |
+
}
|
| 353 |
+
{
|
| 354 |
+
"action": {
|
| 355 |
+
"imageid": 27,
|
| 356 |
+
"pos": [
|
| 357 |
+
248.7378537803263,
|
| 358 |
+
157.84876872112685,
|
| 359 |
+
-6.07089528179559
|
| 360 |
+
],
|
| 361 |
+
"type": "go straight",
|
| 362 |
+
"value": 3,
|
| 363 |
+
"yaw": 2.0943951023931953
|
| 364 |
+
}
|
| 365 |
+
}
|
| 366 |
+
{
|
| 367 |
+
"action": {
|
| 368 |
+
"imageid": 28,
|
| 369 |
+
"pos": [
|
| 370 |
+
247.2378537803263,
|
| 371 |
+
160.44684493248016,
|
| 372 |
+
-6.07089528179559
|
| 373 |
+
],
|
| 374 |
+
"type": "go straight",
|
| 375 |
+
"value": 3,
|
| 376 |
+
"yaw": 2.0943951023931953
|
| 377 |
+
}
|
| 378 |
+
}
|
| 379 |
+
{
|
| 380 |
+
"action": {
|
| 381 |
+
"imageid": 29,
|
| 382 |
+
"pos": [
|
| 383 |
+
245.7378537803263,
|
| 384 |
+
163.04492114383348,
|
| 385 |
+
-6.07089528179559
|
| 386 |
+
],
|
| 387 |
+
"type": "go straight",
|
| 388 |
+
"value": 3,
|
| 389 |
+
"yaw": 2.0943951023931953
|
| 390 |
+
}
|
| 391 |
+
}
|
| 392 |
+
{
|
| 393 |
+
"action": {
|
| 394 |
+
"imageid": 30,
|
| 395 |
+
"pos": [
|
| 396 |
+
244.2378537803263,
|
| 397 |
+
165.6429973551868,
|
| 398 |
+
-6.07089528179559
|
| 399 |
+
],
|
| 400 |
+
"type": "turn right",
|
| 401 |
+
"value": 30,
|
| 402 |
+
"yaw": 2.0943951023931953
|
| 403 |
+
}
|
| 404 |
+
}
|
| 405 |
+
{
|
| 406 |
+
"action": {
|
| 407 |
+
"imageid": 31,
|
| 408 |
+
"pos": [
|
| 409 |
+
244.2378537803263,
|
| 410 |
+
165.6429973551868,
|
| 411 |
+
-6.07089528179559
|
| 412 |
+
],
|
| 413 |
+
"type": "go straight",
|
| 414 |
+
"value": 3,
|
| 415 |
+
"yaw": 1.5707963267948966
|
| 416 |
+
}
|
| 417 |
+
}
|
| 418 |
+
{
|
| 419 |
+
"action": {
|
| 420 |
+
"imageid": 32,
|
| 421 |
+
"pos": [
|
| 422 |
+
244.2378537803263,
|
| 423 |
+
168.6429973551868,
|
| 424 |
+
-6.07089528179559
|
| 425 |
+
],
|
| 426 |
+
"type": "go straight",
|
| 427 |
+
"value": 3,
|
| 428 |
+
"yaw": 1.5707963267948966
|
| 429 |
+
}
|
| 430 |
+
}
|
| 431 |
+
{
|
| 432 |
+
"action": {
|
| 433 |
+
"imageid": 33,
|
| 434 |
+
"pos": [
|
| 435 |
+
244.2378537803263,
|
| 436 |
+
171.6429973551868,
|
| 437 |
+
-6.07089528179559
|
| 438 |
+
],
|
| 439 |
+
"type": "go straight",
|
| 440 |
+
"value": 3,
|
| 441 |
+
"yaw": 1.5707963267948966
|
| 442 |
+
}
|
| 443 |
+
}
|
| 444 |
+
{
|
| 445 |
+
"action": {
|
| 446 |
+
"imageid": 34,
|
| 447 |
+
"pos": [
|
| 448 |
+
244.2378537803263,
|
| 449 |
+
174.6429973551868,
|
| 450 |
+
-6.07089528179559
|
| 451 |
+
],
|
| 452 |
+
"type": "go straight",
|
| 453 |
+
"value": 3,
|
| 454 |
+
"yaw": 1.5707963267948966
|
| 455 |
+
}
|
| 456 |
+
}
|
| 457 |
+
{
|
| 458 |
+
"action": {
|
| 459 |
+
"imageid": 35,
|
| 460 |
+
"pos": [
|
| 461 |
+
244.2378537803263,
|
| 462 |
+
177.6429973551868,
|
| 463 |
+
-6.07089528179559
|
| 464 |
+
],
|
| 465 |
+
"type": "go straight",
|
| 466 |
+
"value": 3,
|
| 467 |
+
"yaw": 1.5707963267948966
|
| 468 |
+
}
|
| 469 |
+
}
|
| 470 |
+
{
|
| 471 |
+
"action": {
|
| 472 |
+
"imageid": 36,
|
| 473 |
+
"pos": [
|
| 474 |
+
244.2378537803263,
|
| 475 |
+
180.6429973551868,
|
| 476 |
+
-6.07089528179559
|
| 477 |
+
],
|
| 478 |
+
"type": "go straight",
|
| 479 |
+
"value": 3,
|
| 480 |
+
"yaw": 1.5707963267948966
|
| 481 |
+
}
|
| 482 |
+
}
|
| 483 |
+
{
|
| 484 |
+
"action": {
|
| 485 |
+
"imageid": 37,
|
| 486 |
+
"pos": [
|
| 487 |
+
244.2378537803263,
|
| 488 |
+
183.6429973551868,
|
| 489 |
+
-6.07089528179559
|
| 490 |
+
],
|
| 491 |
+
"type": "go straight",
|
| 492 |
+
"value": 3,
|
| 493 |
+
"yaw": 1.5707963267948966
|
| 494 |
+
}
|
| 495 |
+
}
|
| 496 |
+
{
|
| 497 |
+
"action": {
|
| 498 |
+
"imageid": 38,
|
| 499 |
+
"pos": [
|
| 500 |
+
244.2378537803263,
|
| 501 |
+
186.6429973551868,
|
| 502 |
+
-6.07089528179559
|
| 503 |
+
],
|
| 504 |
+
"type": "go straight",
|
| 505 |
+
"value": 3,
|
| 506 |
+
"yaw": 1.5707963267948966
|
| 507 |
+
}
|
| 508 |
+
}
|
| 509 |
+
{
|
| 510 |
+
"action": {
|
| 511 |
+
"imageid": 39,
|
| 512 |
+
"pos": [
|
| 513 |
+
244.2378537803263,
|
| 514 |
+
189.6429973551868,
|
| 515 |
+
-6.07089528179559
|
| 516 |
+
],
|
| 517 |
+
"type": "go straight",
|
| 518 |
+
"value": 3,
|
| 519 |
+
"yaw": 1.5707963267948966
|
| 520 |
+
}
|
| 521 |
+
}
|
| 522 |
+
{
|
| 523 |
+
"action": {
|
| 524 |
+
"imageid": 40,
|
| 525 |
+
"pos": [
|
| 526 |
+
244.2378537803263,
|
| 527 |
+
192.6429973551868,
|
| 528 |
+
-6.07089528179559
|
| 529 |
+
],
|
| 530 |
+
"type": "stop",
|
| 531 |
+
"value": 0,
|
| 532 |
+
"yaw": 1.5707963267948966
|
| 533 |
+
}
|
| 534 |
+
}
|
| 535 |
+
{
|
| 536 |
+
"aim_landmark": {
|
| 537 |
+
"color": "test",
|
| 538 |
+
"feature": "test",
|
| 539 |
+
"position": [
|
| 540 |
+
243.237640953064,
|
| 541 |
+
194.2933292388916,
|
| 542 |
+
0.0
|
| 543 |
+
],
|
| 544 |
+
"shape": "test",
|
| 545 |
+
"size": "test",
|
| 546 |
+
"type": "building"
|
| 547 |
+
}
|
| 548 |
+
}
|
Image/env_gs_nwpu02/astar_data/long/2025-1-16_14-2-45_1303455736/pose.jsonl
ADDED
|
@@ -0,0 +1,470 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
1534.364705044629,
|
| 6 |
+
-139.71823834273067,
|
| 7 |
+
-2.3911727536849927
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 1.0471975511965979
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
1535.864705044629,
|
| 19 |
+
-137.12016213137736,
|
| 20 |
+
-2.3911727536849927
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 1.0471975511965979
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
1537.364705044629,
|
| 32 |
+
-134.52208592002404,
|
| 33 |
+
-2.3911727536849927
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 1.0471975511965979
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
1538.864705044629,
|
| 45 |
+
-131.92400970867072,
|
| 46 |
+
-2.3911727536849927
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 1.0471975511965979
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
1540.364705044629,
|
| 58 |
+
-129.3259334973174,
|
| 59 |
+
-2.3911727536849927
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 1.0471975511965979
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
1541.864705044629,
|
| 71 |
+
-126.72785728596409,
|
| 72 |
+
-2.3911727536849927
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 1.0471975511965979
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
1543.364705044629,
|
| 84 |
+
-124.12978107461078,
|
| 85 |
+
-2.3911727536849927
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 1.0471975511965979
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
1544.864705044629,
|
| 97 |
+
-121.53170486325746,
|
| 98 |
+
-2.3911727536849927
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 1.0471975511965979
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
1546.364705044629,
|
| 110 |
+
-118.93362865190414,
|
| 111 |
+
-2.3911727536849927
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 1.0471975511965979
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
1547.864705044629,
|
| 123 |
+
-116.33555244055083,
|
| 124 |
+
-2.3911727536849927
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 1.0471975511965979
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
1549.364705044629,
|
| 136 |
+
-113.73747622919751,
|
| 137 |
+
-2.3911727536849927
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 1.0471975511965979
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
1550.864705044629,
|
| 149 |
+
-111.1394000178442,
|
| 150 |
+
-2.3911727536849927
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 1.0471975511965979
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
1552.364705044629,
|
| 162 |
+
-108.54132380649088,
|
| 163 |
+
-2.3911727536849927
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 1.0471975511965979
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
1553.864705044629,
|
| 175 |
+
-105.94324759513756,
|
| 176 |
+
-2.3911727536849927
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 1.0471975511965979
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
1555.364705044629,
|
| 188 |
+
-103.34517138378425,
|
| 189 |
+
-2.3911727536849927
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 1.0471975511965979
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
1556.864705044629,
|
| 201 |
+
-100.74709517243093,
|
| 202 |
+
-2.3911727536849927
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 1.0471975511965979
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"aim_landmark": {
|
| 211 |
+
"color": "test",
|
| 212 |
+
"feature": "test",
|
| 213 |
+
"position": [
|
| 214 |
+
1559.5110931396484,
|
| 215 |
+
-96.07600393295289,
|
| 216 |
+
0.0
|
| 217 |
+
],
|
| 218 |
+
"shape": "test",
|
| 219 |
+
"size": "test",
|
| 220 |
+
"type": "building"
|
| 221 |
+
}
|
| 222 |
+
}
|
| 223 |
+
{
|
| 224 |
+
"action": {
|
| 225 |
+
"imageid": 17,
|
| 226 |
+
"pos": [
|
| 227 |
+
1558.364705044629,
|
| 228 |
+
-98.14901896107762,
|
| 229 |
+
-2.3911727536849927
|
| 230 |
+
],
|
| 231 |
+
"type": "turn left",
|
| 232 |
+
"value": 30,
|
| 233 |
+
"yaw": 1.0471975511965979
|
| 234 |
+
}
|
| 235 |
+
}
|
| 236 |
+
{
|
| 237 |
+
"action": {
|
| 238 |
+
"imageid": 18,
|
| 239 |
+
"pos": [
|
| 240 |
+
1558.364705044629,
|
| 241 |
+
-98.14901896107762,
|
| 242 |
+
-2.3911727536849927
|
| 243 |
+
],
|
| 244 |
+
"type": "turn left",
|
| 245 |
+
"value": 30,
|
| 246 |
+
"yaw": 1.5707963267948966
|
| 247 |
+
}
|
| 248 |
+
}
|
| 249 |
+
{
|
| 250 |
+
"action": {
|
| 251 |
+
"imageid": 19,
|
| 252 |
+
"pos": [
|
| 253 |
+
1558.364705044629,
|
| 254 |
+
-98.14901896107762,
|
| 255 |
+
-2.3911727536849927
|
| 256 |
+
],
|
| 257 |
+
"type": "go straight",
|
| 258 |
+
"value": 3,
|
| 259 |
+
"yaw": 2.0943951023931953
|
| 260 |
+
}
|
| 261 |
+
}
|
| 262 |
+
{
|
| 263 |
+
"action": {
|
| 264 |
+
"imageid": 20,
|
| 265 |
+
"pos": [
|
| 266 |
+
1556.864705044629,
|
| 267 |
+
-95.5509427497243,
|
| 268 |
+
-2.3911727536849927
|
| 269 |
+
],
|
| 270 |
+
"type": "go straight",
|
| 271 |
+
"value": 3,
|
| 272 |
+
"yaw": 2.0943951023931953
|
| 273 |
+
}
|
| 274 |
+
}
|
| 275 |
+
{
|
| 276 |
+
"action": {
|
| 277 |
+
"imageid": 21,
|
| 278 |
+
"pos": [
|
| 279 |
+
1555.364705044629,
|
| 280 |
+
-92.95286653837098,
|
| 281 |
+
-2.3911727536849927
|
| 282 |
+
],
|
| 283 |
+
"type": "go straight",
|
| 284 |
+
"value": 3,
|
| 285 |
+
"yaw": 2.0943951023931953
|
| 286 |
+
}
|
| 287 |
+
}
|
| 288 |
+
{
|
| 289 |
+
"action": {
|
| 290 |
+
"imageid": 22,
|
| 291 |
+
"pos": [
|
| 292 |
+
1553.864705044629,
|
| 293 |
+
-90.35479032701767,
|
| 294 |
+
-2.3911727536849927
|
| 295 |
+
],
|
| 296 |
+
"type": "go straight",
|
| 297 |
+
"value": 3,
|
| 298 |
+
"yaw": 2.0943951023931953
|
| 299 |
+
}
|
| 300 |
+
}
|
| 301 |
+
{
|
| 302 |
+
"action": {
|
| 303 |
+
"imageid": 23,
|
| 304 |
+
"pos": [
|
| 305 |
+
1552.364705044629,
|
| 306 |
+
-87.75671411566435,
|
| 307 |
+
-2.3911727536849927
|
| 308 |
+
],
|
| 309 |
+
"type": "go straight",
|
| 310 |
+
"value": 3,
|
| 311 |
+
"yaw": 2.0943951023931953
|
| 312 |
+
}
|
| 313 |
+
}
|
| 314 |
+
{
|
| 315 |
+
"action": {
|
| 316 |
+
"imageid": 24,
|
| 317 |
+
"pos": [
|
| 318 |
+
1550.864705044629,
|
| 319 |
+
-85.15863790431104,
|
| 320 |
+
-2.3911727536849927
|
| 321 |
+
],
|
| 322 |
+
"type": "go straight",
|
| 323 |
+
"value": 3,
|
| 324 |
+
"yaw": 2.0943951023931953
|
| 325 |
+
}
|
| 326 |
+
}
|
| 327 |
+
{
|
| 328 |
+
"action": {
|
| 329 |
+
"imageid": 25,
|
| 330 |
+
"pos": [
|
| 331 |
+
1549.364705044629,
|
| 332 |
+
-82.56056169295772,
|
| 333 |
+
-2.3911727536849927
|
| 334 |
+
],
|
| 335 |
+
"type": "go straight",
|
| 336 |
+
"value": 3,
|
| 337 |
+
"yaw": 2.0943951023931953
|
| 338 |
+
}
|
| 339 |
+
}
|
| 340 |
+
{
|
| 341 |
+
"action": {
|
| 342 |
+
"imageid": 26,
|
| 343 |
+
"pos": [
|
| 344 |
+
1547.864705044629,
|
| 345 |
+
-79.9624854816044,
|
| 346 |
+
-2.3911727536849927
|
| 347 |
+
],
|
| 348 |
+
"type": "go straight",
|
| 349 |
+
"value": 3,
|
| 350 |
+
"yaw": 2.0943951023931953
|
| 351 |
+
}
|
| 352 |
+
}
|
| 353 |
+
{
|
| 354 |
+
"action": {
|
| 355 |
+
"imageid": 27,
|
| 356 |
+
"pos": [
|
| 357 |
+
1546.364705044629,
|
| 358 |
+
-77.36440927025109,
|
| 359 |
+
-2.3911727536849927
|
| 360 |
+
],
|
| 361 |
+
"type": "go straight",
|
| 362 |
+
"value": 3,
|
| 363 |
+
"yaw": 2.0943951023931953
|
| 364 |
+
}
|
| 365 |
+
}
|
| 366 |
+
{
|
| 367 |
+
"action": {
|
| 368 |
+
"imageid": 28,
|
| 369 |
+
"pos": [
|
| 370 |
+
1544.864705044629,
|
| 371 |
+
-74.76633305889777,
|
| 372 |
+
-2.3911727536849927
|
| 373 |
+
],
|
| 374 |
+
"type": "go straight",
|
| 375 |
+
"value": 3,
|
| 376 |
+
"yaw": 2.0943951023931953
|
| 377 |
+
}
|
| 378 |
+
}
|
| 379 |
+
{
|
| 380 |
+
"action": {
|
| 381 |
+
"imageid": 29,
|
| 382 |
+
"pos": [
|
| 383 |
+
1543.364705044629,
|
| 384 |
+
-72.16825684754446,
|
| 385 |
+
-2.3911727536849927
|
| 386 |
+
],
|
| 387 |
+
"type": "go straight",
|
| 388 |
+
"value": 3,
|
| 389 |
+
"yaw": 2.0943951023931953
|
| 390 |
+
}
|
| 391 |
+
}
|
| 392 |
+
{
|
| 393 |
+
"action": {
|
| 394 |
+
"imageid": 30,
|
| 395 |
+
"pos": [
|
| 396 |
+
1541.864705044629,
|
| 397 |
+
-69.57018063619114,
|
| 398 |
+
-2.3911727536849927
|
| 399 |
+
],
|
| 400 |
+
"type": "go straight",
|
| 401 |
+
"value": 3,
|
| 402 |
+
"yaw": 2.0943951023931953
|
| 403 |
+
}
|
| 404 |
+
}
|
| 405 |
+
{
|
| 406 |
+
"action": {
|
| 407 |
+
"imageid": 31,
|
| 408 |
+
"pos": [
|
| 409 |
+
1540.364705044629,
|
| 410 |
+
-66.97210442483782,
|
| 411 |
+
-2.3911727536849927
|
| 412 |
+
],
|
| 413 |
+
"type": "go straight",
|
| 414 |
+
"value": 3,
|
| 415 |
+
"yaw": 2.0943951023931953
|
| 416 |
+
}
|
| 417 |
+
}
|
| 418 |
+
{
|
| 419 |
+
"action": {
|
| 420 |
+
"imageid": 32,
|
| 421 |
+
"pos": [
|
| 422 |
+
1538.864705044629,
|
| 423 |
+
-64.37402821348451,
|
| 424 |
+
-2.3911727536849927
|
| 425 |
+
],
|
| 426 |
+
"type": "go straight",
|
| 427 |
+
"value": 3,
|
| 428 |
+
"yaw": 2.0943951023931953
|
| 429 |
+
}
|
| 430 |
+
}
|
| 431 |
+
{
|
| 432 |
+
"action": {
|
| 433 |
+
"imageid": 33,
|
| 434 |
+
"pos": [
|
| 435 |
+
1537.364705044629,
|
| 436 |
+
-61.77595200213119,
|
| 437 |
+
-2.3911727536849927
|
| 438 |
+
],
|
| 439 |
+
"type": "go straight",
|
| 440 |
+
"value": 3,
|
| 441 |
+
"yaw": 2.0943951023931953
|
| 442 |
+
}
|
| 443 |
+
}
|
| 444 |
+
{
|
| 445 |
+
"action": {
|
| 446 |
+
"imageid": 34,
|
| 447 |
+
"pos": [
|
| 448 |
+
1535.864705044629,
|
| 449 |
+
-59.177875790777875,
|
| 450 |
+
-2.3911727536849927
|
| 451 |
+
],
|
| 452 |
+
"type": "stop",
|
| 453 |
+
"value": 0,
|
| 454 |
+
"yaw": 2.0943951023931953
|
| 455 |
+
}
|
| 456 |
+
}
|
| 457 |
+
{
|
| 458 |
+
"aim_landmark": {
|
| 459 |
+
"color": "test",
|
| 460 |
+
"feature": "test",
|
| 461 |
+
"position": [
|
| 462 |
+
1520.3544021606447,
|
| 463 |
+
-28.02864229679108,
|
| 464 |
+
0.0
|
| 465 |
+
],
|
| 466 |
+
"shape": "test",
|
| 467 |
+
"size": "test",
|
| 468 |
+
"type": "building"
|
| 469 |
+
}
|
| 470 |
+
}
|
Image/env_gs_nwpu02/astar_data/long/2025-1-16_14-26-5_424238335/pose.jsonl
ADDED
|
@@ -0,0 +1,600 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
1027.155788654339,
|
| 6 |
+
-165.69778950191485,
|
| 7 |
+
2.620075763892115
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -1.0471975511965979
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
1028.655788654339,
|
| 19 |
+
-168.29586571326817,
|
| 20 |
+
2.620075763892115
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -1.0471975511965979
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
1030.155788654339,
|
| 32 |
+
-170.8939419246215,
|
| 33 |
+
2.620075763892115
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -1.0471975511965979
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
1031.655788654339,
|
| 45 |
+
-173.4920181359748,
|
| 46 |
+
2.620075763892115
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -1.0471975511965979
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
1033.155788654339,
|
| 58 |
+
-176.09009434732812,
|
| 59 |
+
2.620075763892115
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -1.0471975511965979
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
1034.655788654339,
|
| 71 |
+
-178.68817055868143,
|
| 72 |
+
2.620075763892115
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -1.0471975511965979
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
1036.155788654339,
|
| 84 |
+
-181.28624677003475,
|
| 85 |
+
2.620075763892115
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -1.0471975511965979
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
1037.655788654339,
|
| 97 |
+
-183.88432298138807,
|
| 98 |
+
2.620075763892115
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -1.0471975511965979
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
1039.155788654339,
|
| 110 |
+
-186.48239919274138,
|
| 111 |
+
2.620075763892115
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -1.0471975511965979
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
1040.655788654339,
|
| 123 |
+
-189.0804754040947,
|
| 124 |
+
2.620075763892115
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -1.0471975511965979
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
1042.155788654339,
|
| 136 |
+
-191.67855161544801,
|
| 137 |
+
2.620075763892115
|
| 138 |
+
],
|
| 139 |
+
"type": "turn left",
|
| 140 |
+
"value": 30,
|
| 141 |
+
"yaw": -1.0471975511965979
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
1042.155788654339,
|
| 149 |
+
-191.67855161544801,
|
| 150 |
+
2.620075763892115
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -0.523598775598299
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
1044.7538648656923,
|
| 162 |
+
-193.17855161544801,
|
| 163 |
+
2.620075763892115
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -0.5235987755982894
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
1047.3519410770457,
|
| 175 |
+
-194.67855161544801,
|
| 176 |
+
2.620075763892115
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -0.5235987755982894
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
1049.950017288399,
|
| 188 |
+
-196.17855161544801,
|
| 189 |
+
2.620075763892115
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -0.5235987755982894
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
1052.5480934997524,
|
| 201 |
+
-197.67855161544801,
|
| 202 |
+
2.620075763892115
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -0.5235987755982894
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
1055.1461697111058,
|
| 214 |
+
-199.17855161544801,
|
| 215 |
+
2.620075763892115
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -0.5235987755982894
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
1057.7442459224592,
|
| 227 |
+
-200.67855161544801,
|
| 228 |
+
2.620075763892115
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": -0.5235987755982894
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
1060.3423221338126,
|
| 240 |
+
-202.17855161544801,
|
| 241 |
+
2.620075763892115
|
| 242 |
+
],
|
| 243 |
+
"type": "turn right",
|
| 244 |
+
"value": 30,
|
| 245 |
+
"yaw": -0.5235987755982894
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
1060.3423221338126,
|
| 253 |
+
-202.17855161544801,
|
| 254 |
+
2.620075763892115
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": -1.047197551196588
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
1061.8423221338126,
|
| 266 |
+
-204.77662782680133,
|
| 267 |
+
2.620075763892115
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": -1.0471975511965979
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
1063.3423221338126,
|
| 279 |
+
-207.37470403815465,
|
| 280 |
+
2.620075763892115
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": -1.0471975511965979
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"aim_landmark": {
|
| 289 |
+
"color": "test",
|
| 290 |
+
"feature": "test",
|
| 291 |
+
"position": [
|
| 292 |
+
1078.2823501586915,
|
| 293 |
+
-224.4462232589722,
|
| 294 |
+
0.0
|
| 295 |
+
],
|
| 296 |
+
"shape": "test",
|
| 297 |
+
"size": "test",
|
| 298 |
+
"type": "building"
|
| 299 |
+
}
|
| 300 |
+
}
|
| 301 |
+
{
|
| 302 |
+
"action": {
|
| 303 |
+
"imageid": 23,
|
| 304 |
+
"pos": [
|
| 305 |
+
1064.8423221338126,
|
| 306 |
+
-209.97278024950796,
|
| 307 |
+
2.620075763892115
|
| 308 |
+
],
|
| 309 |
+
"type": "turn left",
|
| 310 |
+
"value": 30,
|
| 311 |
+
"yaw": -1.0471975511965979
|
| 312 |
+
}
|
| 313 |
+
}
|
| 314 |
+
{
|
| 315 |
+
"action": {
|
| 316 |
+
"imageid": 24,
|
| 317 |
+
"pos": [
|
| 318 |
+
1064.8423221338126,
|
| 319 |
+
-209.97278024950796,
|
| 320 |
+
2.620075763892115
|
| 321 |
+
],
|
| 322 |
+
"type": "turn left",
|
| 323 |
+
"value": 30,
|
| 324 |
+
"yaw": -0.523598775598299
|
| 325 |
+
}
|
| 326 |
+
}
|
| 327 |
+
{
|
| 328 |
+
"action": {
|
| 329 |
+
"imageid": 25,
|
| 330 |
+
"pos": [
|
| 331 |
+
1064.8423221338126,
|
| 332 |
+
-209.97278024950796,
|
| 333 |
+
2.620075763892115
|
| 334 |
+
],
|
| 335 |
+
"type": "turn left",
|
| 336 |
+
"value": 30,
|
| 337 |
+
"yaw": -2.220446049250313e-16
|
| 338 |
+
}
|
| 339 |
+
}
|
| 340 |
+
{
|
| 341 |
+
"action": {
|
| 342 |
+
"imageid": 26,
|
| 343 |
+
"pos": [
|
| 344 |
+
1064.8423221338126,
|
| 345 |
+
-209.97278024950796,
|
| 346 |
+
2.620075763892115
|
| 347 |
+
],
|
| 348 |
+
"type": "go straight",
|
| 349 |
+
"value": 3,
|
| 350 |
+
"yaw": 0.0
|
| 351 |
+
}
|
| 352 |
+
}
|
| 353 |
+
{
|
| 354 |
+
"action": {
|
| 355 |
+
"imageid": 27,
|
| 356 |
+
"pos": [
|
| 357 |
+
1067.8423221338126,
|
| 358 |
+
-209.97278024950796,
|
| 359 |
+
2.620075763892115
|
| 360 |
+
],
|
| 361 |
+
"type": "go straight",
|
| 362 |
+
"value": 3,
|
| 363 |
+
"yaw": 0.0
|
| 364 |
+
}
|
| 365 |
+
}
|
| 366 |
+
{
|
| 367 |
+
"action": {
|
| 368 |
+
"imageid": 28,
|
| 369 |
+
"pos": [
|
| 370 |
+
1070.8423221338126,
|
| 371 |
+
-209.97278024950796,
|
| 372 |
+
2.620075763892115
|
| 373 |
+
],
|
| 374 |
+
"type": "go straight",
|
| 375 |
+
"value": 3,
|
| 376 |
+
"yaw": 0.0
|
| 377 |
+
}
|
| 378 |
+
}
|
| 379 |
+
{
|
| 380 |
+
"action": {
|
| 381 |
+
"imageid": 29,
|
| 382 |
+
"pos": [
|
| 383 |
+
1073.8423221338126,
|
| 384 |
+
-209.97278024950796,
|
| 385 |
+
2.620075763892115
|
| 386 |
+
],
|
| 387 |
+
"type": "go straight",
|
| 388 |
+
"value": 3,
|
| 389 |
+
"yaw": 0.0
|
| 390 |
+
}
|
| 391 |
+
}
|
| 392 |
+
{
|
| 393 |
+
"action": {
|
| 394 |
+
"imageid": 30,
|
| 395 |
+
"pos": [
|
| 396 |
+
1076.8423221338126,
|
| 397 |
+
-209.97278024950796,
|
| 398 |
+
2.620075763892115
|
| 399 |
+
],
|
| 400 |
+
"type": "go straight",
|
| 401 |
+
"value": 3,
|
| 402 |
+
"yaw": 0.0
|
| 403 |
+
}
|
| 404 |
+
}
|
| 405 |
+
{
|
| 406 |
+
"action": {
|
| 407 |
+
"imageid": 31,
|
| 408 |
+
"pos": [
|
| 409 |
+
1079.8423221338126,
|
| 410 |
+
-209.97278024950796,
|
| 411 |
+
2.620075763892115
|
| 412 |
+
],
|
| 413 |
+
"type": "go straight",
|
| 414 |
+
"value": 3,
|
| 415 |
+
"yaw": 0.0
|
| 416 |
+
}
|
| 417 |
+
}
|
| 418 |
+
{
|
| 419 |
+
"action": {
|
| 420 |
+
"imageid": 32,
|
| 421 |
+
"pos": [
|
| 422 |
+
1082.8423221338126,
|
| 423 |
+
-209.97278024950796,
|
| 424 |
+
2.620075763892115
|
| 425 |
+
],
|
| 426 |
+
"type": "go straight",
|
| 427 |
+
"value": 3,
|
| 428 |
+
"yaw": 0.0
|
| 429 |
+
}
|
| 430 |
+
}
|
| 431 |
+
{
|
| 432 |
+
"action": {
|
| 433 |
+
"imageid": 33,
|
| 434 |
+
"pos": [
|
| 435 |
+
1085.8423221338126,
|
| 436 |
+
-209.97278024950796,
|
| 437 |
+
2.620075763892115
|
| 438 |
+
],
|
| 439 |
+
"type": "go straight",
|
| 440 |
+
"value": 3,
|
| 441 |
+
"yaw": 0.0
|
| 442 |
+
}
|
| 443 |
+
}
|
| 444 |
+
{
|
| 445 |
+
"action": {
|
| 446 |
+
"imageid": 34,
|
| 447 |
+
"pos": [
|
| 448 |
+
1088.8423221338126,
|
| 449 |
+
-209.97278024950796,
|
| 450 |
+
2.620075763892115
|
| 451 |
+
],
|
| 452 |
+
"type": "go straight",
|
| 453 |
+
"value": 3,
|
| 454 |
+
"yaw": 0.0
|
| 455 |
+
}
|
| 456 |
+
}
|
| 457 |
+
{
|
| 458 |
+
"action": {
|
| 459 |
+
"imageid": 35,
|
| 460 |
+
"pos": [
|
| 461 |
+
1091.8423221338126,
|
| 462 |
+
-209.97278024950796,
|
| 463 |
+
2.620075763892115
|
| 464 |
+
],
|
| 465 |
+
"type": "go straight",
|
| 466 |
+
"value": 3,
|
| 467 |
+
"yaw": 0.0
|
| 468 |
+
}
|
| 469 |
+
}
|
| 470 |
+
{
|
| 471 |
+
"action": {
|
| 472 |
+
"imageid": 36,
|
| 473 |
+
"pos": [
|
| 474 |
+
1094.8423221338126,
|
| 475 |
+
-209.97278024950796,
|
| 476 |
+
2.620075763892115
|
| 477 |
+
],
|
| 478 |
+
"type": "go straight",
|
| 479 |
+
"value": 3,
|
| 480 |
+
"yaw": 0.0
|
| 481 |
+
}
|
| 482 |
+
}
|
| 483 |
+
{
|
| 484 |
+
"action": {
|
| 485 |
+
"imageid": 37,
|
| 486 |
+
"pos": [
|
| 487 |
+
1097.8423221338126,
|
| 488 |
+
-209.97278024950796,
|
| 489 |
+
2.620075763892115
|
| 490 |
+
],
|
| 491 |
+
"type": "go straight",
|
| 492 |
+
"value": 3,
|
| 493 |
+
"yaw": 0.0
|
| 494 |
+
}
|
| 495 |
+
}
|
| 496 |
+
{
|
| 497 |
+
"action": {
|
| 498 |
+
"imageid": 38,
|
| 499 |
+
"pos": [
|
| 500 |
+
1100.8423221338126,
|
| 501 |
+
-209.97278024950796,
|
| 502 |
+
2.620075763892115
|
| 503 |
+
],
|
| 504 |
+
"type": "go straight",
|
| 505 |
+
"value": 3,
|
| 506 |
+
"yaw": 0.0
|
| 507 |
+
}
|
| 508 |
+
}
|
| 509 |
+
{
|
| 510 |
+
"action": {
|
| 511 |
+
"imageid": 39,
|
| 512 |
+
"pos": [
|
| 513 |
+
1103.8423221338126,
|
| 514 |
+
-209.97278024950796,
|
| 515 |
+
2.620075763892115
|
| 516 |
+
],
|
| 517 |
+
"type": "go straight",
|
| 518 |
+
"value": 3,
|
| 519 |
+
"yaw": 0.0
|
| 520 |
+
}
|
| 521 |
+
}
|
| 522 |
+
{
|
| 523 |
+
"action": {
|
| 524 |
+
"imageid": 40,
|
| 525 |
+
"pos": [
|
| 526 |
+
1106.8423221338126,
|
| 527 |
+
-209.97278024950796,
|
| 528 |
+
2.620075763892115
|
| 529 |
+
],
|
| 530 |
+
"type": "go straight",
|
| 531 |
+
"value": 3,
|
| 532 |
+
"yaw": 0.0
|
| 533 |
+
}
|
| 534 |
+
}
|
| 535 |
+
{
|
| 536 |
+
"action": {
|
| 537 |
+
"imageid": 41,
|
| 538 |
+
"pos": [
|
| 539 |
+
1109.8423221338126,
|
| 540 |
+
-209.97278024950796,
|
| 541 |
+
2.620075763892115
|
| 542 |
+
],
|
| 543 |
+
"type": "go straight",
|
| 544 |
+
"value": 3,
|
| 545 |
+
"yaw": 0.0
|
| 546 |
+
}
|
| 547 |
+
}
|
| 548 |
+
{
|
| 549 |
+
"action": {
|
| 550 |
+
"imageid": 42,
|
| 551 |
+
"pos": [
|
| 552 |
+
1112.8423221338126,
|
| 553 |
+
-209.97278024950796,
|
| 554 |
+
2.620075763892115
|
| 555 |
+
],
|
| 556 |
+
"type": "go straight",
|
| 557 |
+
"value": 3,
|
| 558 |
+
"yaw": 0.0
|
| 559 |
+
}
|
| 560 |
+
}
|
| 561 |
+
{
|
| 562 |
+
"action": {
|
| 563 |
+
"imageid": 43,
|
| 564 |
+
"pos": [
|
| 565 |
+
1115.8423221338126,
|
| 566 |
+
-209.97278024950796,
|
| 567 |
+
2.620075763892115
|
| 568 |
+
],
|
| 569 |
+
"type": "go straight",
|
| 570 |
+
"value": 3,
|
| 571 |
+
"yaw": 0.0
|
| 572 |
+
}
|
| 573 |
+
}
|
| 574 |
+
{
|
| 575 |
+
"action": {
|
| 576 |
+
"imageid": 44,
|
| 577 |
+
"pos": [
|
| 578 |
+
1118.8423221338126,
|
| 579 |
+
-209.97278024950796,
|
| 580 |
+
2.620075763892115
|
| 581 |
+
],
|
| 582 |
+
"type": "stop",
|
| 583 |
+
"value": 0,
|
| 584 |
+
"yaw": 0.0
|
| 585 |
+
}
|
| 586 |
+
}
|
| 587 |
+
{
|
| 588 |
+
"aim_landmark": {
|
| 589 |
+
"color": "test",
|
| 590 |
+
"feature": "test",
|
| 591 |
+
"position": [
|
| 592 |
+
1136.0676353454592,
|
| 593 |
+
-208.6565689086914,
|
| 594 |
+
0.0
|
| 595 |
+
],
|
| 596 |
+
"shape": "test",
|
| 597 |
+
"size": "test",
|
| 598 |
+
"type": "building"
|
| 599 |
+
}
|
| 600 |
+
}
|
Image/env_gs_nwpu02/astar_data/long/2025-1-16_14-27-42_1189641421/pose.jsonl
ADDED
|
@@ -0,0 +1,548 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
1270.3424522294274,
|
| 6 |
+
176.9616448384956,
|
| 7 |
+
-2.1435839874377494
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 0.0
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
1273.3424522294274,
|
| 19 |
+
176.9616448384956,
|
| 20 |
+
-2.1435839874377494
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 0.0
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
1276.3424522294274,
|
| 32 |
+
176.9616448384956,
|
| 33 |
+
-2.1435839874377494
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 0.0
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
1279.3424522294274,
|
| 45 |
+
176.9616448384956,
|
| 46 |
+
-2.1435839874377494
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 0.0
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
1282.3424522294274,
|
| 58 |
+
176.9616448384956,
|
| 59 |
+
-2.1435839874377494
|
| 60 |
+
],
|
| 61 |
+
"type": "turn left",
|
| 62 |
+
"value": 30,
|
| 63 |
+
"yaw": 0.0
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
1282.3424522294274,
|
| 71 |
+
176.9616448384956,
|
| 72 |
+
-2.1435839874377494
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 0.5235987755982988
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
1284.9405284407808,
|
| 84 |
+
178.4616448384956,
|
| 85 |
+
-2.1435839874377494
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 0.5235987755982894
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
1287.5386046521342,
|
| 97 |
+
179.9616448384956,
|
| 98 |
+
-2.1435839874377494
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 0.5235987755982894
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
1290.1366808634875,
|
| 110 |
+
181.4616448384956,
|
| 111 |
+
-2.1435839874377494
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 0.5235987755982894
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
1292.734757074841,
|
| 123 |
+
182.9616448384956,
|
| 124 |
+
-2.1435839874377494
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 0.5235987755982894
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
1295.3328332861943,
|
| 136 |
+
184.4616448384956,
|
| 137 |
+
-2.1435839874377494
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 0.5235987755982894
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
1297.9309094975476,
|
| 149 |
+
185.9616448384956,
|
| 150 |
+
-2.1435839874377494
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 0.5235987755982894
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
1300.528985708901,
|
| 162 |
+
187.4616448384956,
|
| 163 |
+
-2.1435839874377494
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 0.5235987755982894
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
1303.1270619202544,
|
| 175 |
+
188.9616448384956,
|
| 176 |
+
-2.1435839874377494
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 0.5235987755982894
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
1305.7251381316078,
|
| 188 |
+
190.4616448384956,
|
| 189 |
+
-2.1435839874377494
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 0.5235987755982894
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
1308.3232143429611,
|
| 201 |
+
191.9616448384956,
|
| 202 |
+
-2.1435839874377494
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 0.5235987755982894
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
1310.9212905543145,
|
| 214 |
+
193.4616448384956,
|
| 215 |
+
-2.1435839874377494
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 0.5235987755982894
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
1313.5193667656679,
|
| 227 |
+
194.9616448384956,
|
| 228 |
+
-2.1435839874377494
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 0.5235987755982894
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"aim_landmark": {
|
| 237 |
+
"color": "test",
|
| 238 |
+
"feature": "test",
|
| 239 |
+
"position": [
|
| 240 |
+
1318.4154022216799,
|
| 241 |
+
197.2680404663086,
|
| 242 |
+
0.0
|
| 243 |
+
],
|
| 244 |
+
"shape": "test",
|
| 245 |
+
"size": "test",
|
| 246 |
+
"type": "building"
|
| 247 |
+
}
|
| 248 |
+
}
|
| 249 |
+
{
|
| 250 |
+
"action": {
|
| 251 |
+
"imageid": 19,
|
| 252 |
+
"pos": [
|
| 253 |
+
1316.1174429770213,
|
| 254 |
+
196.4616448384956,
|
| 255 |
+
-2.1435839874377494
|
| 256 |
+
],
|
| 257 |
+
"type": "turn left",
|
| 258 |
+
"value": 30,
|
| 259 |
+
"yaw": 0.5235987755982894
|
| 260 |
+
}
|
| 261 |
+
}
|
| 262 |
+
{
|
| 263 |
+
"action": {
|
| 264 |
+
"imageid": 20,
|
| 265 |
+
"pos": [
|
| 266 |
+
1316.1174429770213,
|
| 267 |
+
196.4616448384956,
|
| 268 |
+
-2.1435839874377494
|
| 269 |
+
],
|
| 270 |
+
"type": "turn left",
|
| 271 |
+
"value": 30,
|
| 272 |
+
"yaw": 1.047197551196588
|
| 273 |
+
}
|
| 274 |
+
}
|
| 275 |
+
{
|
| 276 |
+
"action": {
|
| 277 |
+
"imageid": 21,
|
| 278 |
+
"pos": [
|
| 279 |
+
1316.1174429770213,
|
| 280 |
+
196.4616448384956,
|
| 281 |
+
-2.1435839874377494
|
| 282 |
+
],
|
| 283 |
+
"type": "turn left",
|
| 284 |
+
"value": 30,
|
| 285 |
+
"yaw": 1.570796326794887
|
| 286 |
+
}
|
| 287 |
+
}
|
| 288 |
+
{
|
| 289 |
+
"action": {
|
| 290 |
+
"imageid": 22,
|
| 291 |
+
"pos": [
|
| 292 |
+
1316.1174429770213,
|
| 293 |
+
196.4616448384956,
|
| 294 |
+
-2.1435839874377494
|
| 295 |
+
],
|
| 296 |
+
"type": "turn left",
|
| 297 |
+
"value": 30,
|
| 298 |
+
"yaw": 2.094395102393186
|
| 299 |
+
}
|
| 300 |
+
}
|
| 301 |
+
{
|
| 302 |
+
"action": {
|
| 303 |
+
"imageid": 23,
|
| 304 |
+
"pos": [
|
| 305 |
+
1316.1174429770213,
|
| 306 |
+
196.4616448384956,
|
| 307 |
+
-2.1435839874377494
|
| 308 |
+
],
|
| 309 |
+
"type": "go straight",
|
| 310 |
+
"value": 3,
|
| 311 |
+
"yaw": 2.0943951023931953
|
| 312 |
+
}
|
| 313 |
+
}
|
| 314 |
+
{
|
| 315 |
+
"action": {
|
| 316 |
+
"imageid": 24,
|
| 317 |
+
"pos": [
|
| 318 |
+
1314.6174429770213,
|
| 319 |
+
199.05972104984892,
|
| 320 |
+
-2.1435839874377494
|
| 321 |
+
],
|
| 322 |
+
"type": "go straight",
|
| 323 |
+
"value": 3,
|
| 324 |
+
"yaw": 2.0943951023931953
|
| 325 |
+
}
|
| 326 |
+
}
|
| 327 |
+
{
|
| 328 |
+
"action": {
|
| 329 |
+
"imageid": 25,
|
| 330 |
+
"pos": [
|
| 331 |
+
1313.1174429770213,
|
| 332 |
+
201.65779726120223,
|
| 333 |
+
-2.1435839874377494
|
| 334 |
+
],
|
| 335 |
+
"type": "go straight",
|
| 336 |
+
"value": 3,
|
| 337 |
+
"yaw": 2.0943951023931953
|
| 338 |
+
}
|
| 339 |
+
}
|
| 340 |
+
{
|
| 341 |
+
"action": {
|
| 342 |
+
"imageid": 26,
|
| 343 |
+
"pos": [
|
| 344 |
+
1311.6174429770213,
|
| 345 |
+
204.25587347255555,
|
| 346 |
+
-2.1435839874377494
|
| 347 |
+
],
|
| 348 |
+
"type": "go straight",
|
| 349 |
+
"value": 3,
|
| 350 |
+
"yaw": 2.0943951023931953
|
| 351 |
+
}
|
| 352 |
+
}
|
| 353 |
+
{
|
| 354 |
+
"action": {
|
| 355 |
+
"imageid": 27,
|
| 356 |
+
"pos": [
|
| 357 |
+
1310.1174429770213,
|
| 358 |
+
206.85394968390887,
|
| 359 |
+
-2.1435839874377494
|
| 360 |
+
],
|
| 361 |
+
"type": "go straight",
|
| 362 |
+
"value": 3,
|
| 363 |
+
"yaw": 2.0943951023931953
|
| 364 |
+
}
|
| 365 |
+
}
|
| 366 |
+
{
|
| 367 |
+
"action": {
|
| 368 |
+
"imageid": 28,
|
| 369 |
+
"pos": [
|
| 370 |
+
1308.6174429770213,
|
| 371 |
+
209.45202589526218,
|
| 372 |
+
-2.1435839874377494
|
| 373 |
+
],
|
| 374 |
+
"type": "go straight",
|
| 375 |
+
"value": 3,
|
| 376 |
+
"yaw": 2.0943951023931953
|
| 377 |
+
}
|
| 378 |
+
}
|
| 379 |
+
{
|
| 380 |
+
"action": {
|
| 381 |
+
"imageid": 29,
|
| 382 |
+
"pos": [
|
| 383 |
+
1307.1174429770213,
|
| 384 |
+
212.0501021066155,
|
| 385 |
+
-2.1435839874377494
|
| 386 |
+
],
|
| 387 |
+
"type": "go straight",
|
| 388 |
+
"value": 3,
|
| 389 |
+
"yaw": 2.0943951023931953
|
| 390 |
+
}
|
| 391 |
+
}
|
| 392 |
+
{
|
| 393 |
+
"action": {
|
| 394 |
+
"imageid": 30,
|
| 395 |
+
"pos": [
|
| 396 |
+
1305.6174429770213,
|
| 397 |
+
214.6481783179688,
|
| 398 |
+
-2.1435839874377494
|
| 399 |
+
],
|
| 400 |
+
"type": "go straight",
|
| 401 |
+
"value": 3,
|
| 402 |
+
"yaw": 2.0943951023931953
|
| 403 |
+
}
|
| 404 |
+
}
|
| 405 |
+
{
|
| 406 |
+
"action": {
|
| 407 |
+
"imageid": 31,
|
| 408 |
+
"pos": [
|
| 409 |
+
1304.1174429770213,
|
| 410 |
+
217.24625452932213,
|
| 411 |
+
-2.1435839874377494
|
| 412 |
+
],
|
| 413 |
+
"type": "go straight",
|
| 414 |
+
"value": 3,
|
| 415 |
+
"yaw": 2.0943951023931953
|
| 416 |
+
}
|
| 417 |
+
}
|
| 418 |
+
{
|
| 419 |
+
"action": {
|
| 420 |
+
"imageid": 32,
|
| 421 |
+
"pos": [
|
| 422 |
+
1302.6174429770213,
|
| 423 |
+
219.84433074067545,
|
| 424 |
+
-2.1435839874377494
|
| 425 |
+
],
|
| 426 |
+
"type": "go straight",
|
| 427 |
+
"value": 3,
|
| 428 |
+
"yaw": 2.0943951023931953
|
| 429 |
+
}
|
| 430 |
+
}
|
| 431 |
+
{
|
| 432 |
+
"action": {
|
| 433 |
+
"imageid": 33,
|
| 434 |
+
"pos": [
|
| 435 |
+
1301.1174429770213,
|
| 436 |
+
222.44240695202876,
|
| 437 |
+
-2.1435839874377494
|
| 438 |
+
],
|
| 439 |
+
"type": "go straight",
|
| 440 |
+
"value": 3,
|
| 441 |
+
"yaw": 2.0943951023931953
|
| 442 |
+
}
|
| 443 |
+
}
|
| 444 |
+
{
|
| 445 |
+
"action": {
|
| 446 |
+
"imageid": 34,
|
| 447 |
+
"pos": [
|
| 448 |
+
1299.6174429770213,
|
| 449 |
+
225.04048316338208,
|
| 450 |
+
-2.1435839874377494
|
| 451 |
+
],
|
| 452 |
+
"type": "go straight",
|
| 453 |
+
"value": 3,
|
| 454 |
+
"yaw": 2.0943951023931953
|
| 455 |
+
}
|
| 456 |
+
}
|
| 457 |
+
{
|
| 458 |
+
"action": {
|
| 459 |
+
"imageid": 35,
|
| 460 |
+
"pos": [
|
| 461 |
+
1298.1174429770213,
|
| 462 |
+
227.6385593747354,
|
| 463 |
+
-2.1435839874377494
|
| 464 |
+
],
|
| 465 |
+
"type": "go straight",
|
| 466 |
+
"value": 3,
|
| 467 |
+
"yaw": 2.0943951023931953
|
| 468 |
+
}
|
| 469 |
+
}
|
| 470 |
+
{
|
| 471 |
+
"action": {
|
| 472 |
+
"imageid": 36,
|
| 473 |
+
"pos": [
|
| 474 |
+
1296.6174429770213,
|
| 475 |
+
230.2366355860887,
|
| 476 |
+
-2.1435839874377494
|
| 477 |
+
],
|
| 478 |
+
"type": "go straight",
|
| 479 |
+
"value": 3,
|
| 480 |
+
"yaw": 2.0943951023931953
|
| 481 |
+
}
|
| 482 |
+
}
|
| 483 |
+
{
|
| 484 |
+
"action": {
|
| 485 |
+
"imageid": 37,
|
| 486 |
+
"pos": [
|
| 487 |
+
1295.1174429770213,
|
| 488 |
+
232.83471179744203,
|
| 489 |
+
-2.1435839874377494
|
| 490 |
+
],
|
| 491 |
+
"type": "go straight",
|
| 492 |
+
"value": 3,
|
| 493 |
+
"yaw": 2.0943951023931953
|
| 494 |
+
}
|
| 495 |
+
}
|
| 496 |
+
{
|
| 497 |
+
"action": {
|
| 498 |
+
"imageid": 38,
|
| 499 |
+
"pos": [
|
| 500 |
+
1293.6174429770213,
|
| 501 |
+
235.43278800879534,
|
| 502 |
+
-2.1435839874377494
|
| 503 |
+
],
|
| 504 |
+
"type": "go straight",
|
| 505 |
+
"value": 3,
|
| 506 |
+
"yaw": 2.0943951023931953
|
| 507 |
+
}
|
| 508 |
+
}
|
| 509 |
+
{
|
| 510 |
+
"action": {
|
| 511 |
+
"imageid": 39,
|
| 512 |
+
"pos": [
|
| 513 |
+
1292.1174429770213,
|
| 514 |
+
238.03086422014866,
|
| 515 |
+
-2.1435839874377494
|
| 516 |
+
],
|
| 517 |
+
"type": "go straight",
|
| 518 |
+
"value": 3,
|
| 519 |
+
"yaw": 2.0943951023931953
|
| 520 |
+
}
|
| 521 |
+
}
|
| 522 |
+
{
|
| 523 |
+
"action": {
|
| 524 |
+
"imageid": 40,
|
| 525 |
+
"pos": [
|
| 526 |
+
1290.6174429770213,
|
| 527 |
+
240.62894043150197,
|
| 528 |
+
-2.1435839874377494
|
| 529 |
+
],
|
| 530 |
+
"type": "stop",
|
| 531 |
+
"value": 0,
|
| 532 |
+
"yaw": 2.0943951023931953
|
| 533 |
+
}
|
| 534 |
+
}
|
| 535 |
+
{
|
| 536 |
+
"aim_landmark": {
|
| 537 |
+
"color": "test",
|
| 538 |
+
"feature": "test",
|
| 539 |
+
"position": [
|
| 540 |
+
1292.3825042724611,
|
| 541 |
+
243.1778787612915,
|
| 542 |
+
0.0
|
| 543 |
+
],
|
| 544 |
+
"shape": "test",
|
| 545 |
+
"size": "test",
|
| 546 |
+
"type": "building"
|
| 547 |
+
}
|
| 548 |
+
}
|
Image/env_gs_nwpu02/astar_data/long/2025-1-16_14-28-58_783368690/pose.jsonl
ADDED
|
@@ -0,0 +1,743 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-9.098027550567128,
|
| 6 |
+
-42.00700059374988,
|
| 7 |
+
-1.9603768975291658
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 1.0471975511965979
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-7.598027550567128,
|
| 19 |
+
-39.40892438239656,
|
| 20 |
+
-1.9603768975291658
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 1.0471975511965979
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-6.098027550567128,
|
| 32 |
+
-36.81084817104325,
|
| 33 |
+
-1.9603768975291658
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 1.0471975511965979
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-4.598027550567128,
|
| 45 |
+
-34.21277195968993,
|
| 46 |
+
-1.9603768975291658
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 1.0471975511965979
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-3.0980275505671275,
|
| 58 |
+
-31.614695748336615,
|
| 59 |
+
-1.9603768975291658
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 1.0471975511965976
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-1.598027550567127,
|
| 71 |
+
-29.0166195369833,
|
| 72 |
+
-1.9603768975291658
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 1.0471975511965976
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-0.09802755056712664,
|
| 84 |
+
-26.418543325629983,
|
| 85 |
+
-1.9603768975291658
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 1.0471975511965976
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
1.4019724494328738,
|
| 97 |
+
-23.820467114276667,
|
| 98 |
+
-1.9603768975291658
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 1.0471975511965976
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
2.9019724494328742,
|
| 110 |
+
-21.22239090292335,
|
| 111 |
+
-1.9603768975291658
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 1.0471975511965976
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
4.401972449432875,
|
| 123 |
+
-18.624314691570035,
|
| 124 |
+
-1.9603768975291658
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 1.0471975511965976
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
5.901972449432876,
|
| 136 |
+
-16.02623848021672,
|
| 137 |
+
-1.9603768975291658
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 1.0471975511965974
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
7.401972449432876,
|
| 149 |
+
-13.428162268863403,
|
| 150 |
+
-1.9603768975291658
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 1.0471975511965979
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
8.901972449432876,
|
| 162 |
+
-10.830086057510087,
|
| 163 |
+
-1.9603768975291658
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 1.0471975511965979
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
10.401972449432876,
|
| 175 |
+
-8.232009846156771,
|
| 176 |
+
-1.9603768975291658
|
| 177 |
+
],
|
| 178 |
+
"type": "turn right",
|
| 179 |
+
"value": 30,
|
| 180 |
+
"yaw": 1.0471975511965979
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
10.401972449432876,
|
| 188 |
+
-8.232009846156771,
|
| 189 |
+
-1.9603768975291658
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 0.523598775598299
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
13.000048660786192,
|
| 201 |
+
-6.732009846156771,
|
| 202 |
+
-1.9603768975291658
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 0.5235987755982988
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
15.598124872139508,
|
| 214 |
+
-5.232009846156771,
|
| 215 |
+
-1.9603768975291658
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 0.5235987755982988
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
18.196201083492824,
|
| 227 |
+
-3.732009846156771,
|
| 228 |
+
-1.9603768975291658
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 0.5235987755982988
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
20.79427729484614,
|
| 240 |
+
-2.232009846156771,
|
| 241 |
+
-1.9603768975291658
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 0.5235987755982988
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
23.392353506199456,
|
| 253 |
+
-0.7320098461567712,
|
| 254 |
+
-1.9603768975291658
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": 0.5235987755982988
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
25.99042971755277,
|
| 266 |
+
0.7679901538432286,
|
| 267 |
+
-1.9603768975291658
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": 0.5235987755982988
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"aim_landmark": {
|
| 276 |
+
"color": "test",
|
| 277 |
+
"feature": "test",
|
| 278 |
+
"position": [
|
| 279 |
+
31.34878616333008,
|
| 280 |
+
1.572951889038086,
|
| 281 |
+
0.0
|
| 282 |
+
],
|
| 283 |
+
"shape": "test",
|
| 284 |
+
"size": "test",
|
| 285 |
+
"type": "building"
|
| 286 |
+
}
|
| 287 |
+
}
|
| 288 |
+
{
|
| 289 |
+
"action": {
|
| 290 |
+
"imageid": 22,
|
| 291 |
+
"pos": [
|
| 292 |
+
28.588505928906088,
|
| 293 |
+
2.267990153843228,
|
| 294 |
+
-1.9603768975291658
|
| 295 |
+
],
|
| 296 |
+
"type": "turn right",
|
| 297 |
+
"value": 30,
|
| 298 |
+
"yaw": 0.5235987755982988
|
| 299 |
+
}
|
| 300 |
+
}
|
| 301 |
+
{
|
| 302 |
+
"action": {
|
| 303 |
+
"imageid": 23,
|
| 304 |
+
"pos": [
|
| 305 |
+
28.588505928906088,
|
| 306 |
+
2.267990153843228,
|
| 307 |
+
-1.9603768975291658
|
| 308 |
+
],
|
| 309 |
+
"type": "turn right",
|
| 310 |
+
"value": 30,
|
| 311 |
+
"yaw": 0.0
|
| 312 |
+
}
|
| 313 |
+
}
|
| 314 |
+
{
|
| 315 |
+
"action": {
|
| 316 |
+
"imageid": 24,
|
| 317 |
+
"pos": [
|
| 318 |
+
28.588505928906088,
|
| 319 |
+
2.267990153843228,
|
| 320 |
+
-1.9603768975291658
|
| 321 |
+
],
|
| 322 |
+
"type": "turn right",
|
| 323 |
+
"value": 30,
|
| 324 |
+
"yaw": -0.5235987755982988
|
| 325 |
+
}
|
| 326 |
+
}
|
| 327 |
+
{
|
| 328 |
+
"action": {
|
| 329 |
+
"imageid": 25,
|
| 330 |
+
"pos": [
|
| 331 |
+
28.588505928906088,
|
| 332 |
+
2.267990153843228,
|
| 333 |
+
-1.9603768975291658
|
| 334 |
+
],
|
| 335 |
+
"type": "turn right",
|
| 336 |
+
"value": 30,
|
| 337 |
+
"yaw": -1.0471975511965979
|
| 338 |
+
}
|
| 339 |
+
}
|
| 340 |
+
{
|
| 341 |
+
"action": {
|
| 342 |
+
"imageid": 26,
|
| 343 |
+
"pos": [
|
| 344 |
+
28.588505928906088,
|
| 345 |
+
2.267990153843228,
|
| 346 |
+
-1.9603768975291658
|
| 347 |
+
],
|
| 348 |
+
"type": "turn right",
|
| 349 |
+
"value": 30,
|
| 350 |
+
"yaw": -1.5707963267948966
|
| 351 |
+
}
|
| 352 |
+
}
|
| 353 |
+
{
|
| 354 |
+
"action": {
|
| 355 |
+
"imageid": 27,
|
| 356 |
+
"pos": [
|
| 357 |
+
28.588505928906088,
|
| 358 |
+
2.267990153843228,
|
| 359 |
+
-1.9603768975291658
|
| 360 |
+
],
|
| 361 |
+
"type": "go straight",
|
| 362 |
+
"value": 3,
|
| 363 |
+
"yaw": -1.5707963267948966
|
| 364 |
+
}
|
| 365 |
+
}
|
| 366 |
+
{
|
| 367 |
+
"action": {
|
| 368 |
+
"imageid": 28,
|
| 369 |
+
"pos": [
|
| 370 |
+
28.588505928906088,
|
| 371 |
+
-0.7320098461567719,
|
| 372 |
+
-1.9603768975291658
|
| 373 |
+
],
|
| 374 |
+
"type": "go straight",
|
| 375 |
+
"value": 3,
|
| 376 |
+
"yaw": -1.5707963267948966
|
| 377 |
+
}
|
| 378 |
+
}
|
| 379 |
+
{
|
| 380 |
+
"action": {
|
| 381 |
+
"imageid": 29,
|
| 382 |
+
"pos": [
|
| 383 |
+
28.588505928906088,
|
| 384 |
+
-3.732009846156772,
|
| 385 |
+
-1.9603768975291658
|
| 386 |
+
],
|
| 387 |
+
"type": "go straight",
|
| 388 |
+
"value": 3,
|
| 389 |
+
"yaw": -1.5707963267948966
|
| 390 |
+
}
|
| 391 |
+
}
|
| 392 |
+
{
|
| 393 |
+
"action": {
|
| 394 |
+
"imageid": 30,
|
| 395 |
+
"pos": [
|
| 396 |
+
28.588505928906088,
|
| 397 |
+
-6.732009846156772,
|
| 398 |
+
-1.9603768975291658
|
| 399 |
+
],
|
| 400 |
+
"type": "go straight",
|
| 401 |
+
"value": 3,
|
| 402 |
+
"yaw": -1.5707963267948966
|
| 403 |
+
}
|
| 404 |
+
}
|
| 405 |
+
{
|
| 406 |
+
"action": {
|
| 407 |
+
"imageid": 31,
|
| 408 |
+
"pos": [
|
| 409 |
+
28.588505928906088,
|
| 410 |
+
-9.732009846156771,
|
| 411 |
+
-1.9603768975291658
|
| 412 |
+
],
|
| 413 |
+
"type": "go straight",
|
| 414 |
+
"value": 3,
|
| 415 |
+
"yaw": -1.5707963267948966
|
| 416 |
+
}
|
| 417 |
+
}
|
| 418 |
+
{
|
| 419 |
+
"action": {
|
| 420 |
+
"imageid": 32,
|
| 421 |
+
"pos": [
|
| 422 |
+
28.588505928906088,
|
| 423 |
+
-12.732009846156771,
|
| 424 |
+
-1.9603768975291658
|
| 425 |
+
],
|
| 426 |
+
"type": "go straight",
|
| 427 |
+
"value": 3,
|
| 428 |
+
"yaw": -1.5707963267948966
|
| 429 |
+
}
|
| 430 |
+
}
|
| 431 |
+
{
|
| 432 |
+
"action": {
|
| 433 |
+
"imageid": 33,
|
| 434 |
+
"pos": [
|
| 435 |
+
28.588505928906088,
|
| 436 |
+
-15.732009846156771,
|
| 437 |
+
-1.9603768975291658
|
| 438 |
+
],
|
| 439 |
+
"type": "go straight",
|
| 440 |
+
"value": 3,
|
| 441 |
+
"yaw": -1.5707963267948966
|
| 442 |
+
}
|
| 443 |
+
}
|
| 444 |
+
{
|
| 445 |
+
"action": {
|
| 446 |
+
"imageid": 34,
|
| 447 |
+
"pos": [
|
| 448 |
+
28.588505928906088,
|
| 449 |
+
-18.73200984615677,
|
| 450 |
+
-1.9603768975291658
|
| 451 |
+
],
|
| 452 |
+
"type": "go straight",
|
| 453 |
+
"value": 3,
|
| 454 |
+
"yaw": -1.5707963267948966
|
| 455 |
+
}
|
| 456 |
+
}
|
| 457 |
+
{
|
| 458 |
+
"action": {
|
| 459 |
+
"imageid": 35,
|
| 460 |
+
"pos": [
|
| 461 |
+
28.588505928906088,
|
| 462 |
+
-21.73200984615677,
|
| 463 |
+
-1.9603768975291658
|
| 464 |
+
],
|
| 465 |
+
"type": "go straight",
|
| 466 |
+
"value": 3,
|
| 467 |
+
"yaw": -1.5707963267948966
|
| 468 |
+
}
|
| 469 |
+
}
|
| 470 |
+
{
|
| 471 |
+
"action": {
|
| 472 |
+
"imageid": 36,
|
| 473 |
+
"pos": [
|
| 474 |
+
28.588505928906088,
|
| 475 |
+
-24.73200984615677,
|
| 476 |
+
-1.9603768975291658
|
| 477 |
+
],
|
| 478 |
+
"type": "go straight",
|
| 479 |
+
"value": 3,
|
| 480 |
+
"yaw": -1.5707963267948966
|
| 481 |
+
}
|
| 482 |
+
}
|
| 483 |
+
{
|
| 484 |
+
"action": {
|
| 485 |
+
"imageid": 37,
|
| 486 |
+
"pos": [
|
| 487 |
+
28.588505928906088,
|
| 488 |
+
-27.73200984615677,
|
| 489 |
+
-1.9603768975291658
|
| 490 |
+
],
|
| 491 |
+
"type": "go straight",
|
| 492 |
+
"value": 3,
|
| 493 |
+
"yaw": -1.5707963267948966
|
| 494 |
+
}
|
| 495 |
+
}
|
| 496 |
+
{
|
| 497 |
+
"action": {
|
| 498 |
+
"imageid": 38,
|
| 499 |
+
"pos": [
|
| 500 |
+
28.588505928906088,
|
| 501 |
+
-30.73200984615677,
|
| 502 |
+
-1.9603768975291658
|
| 503 |
+
],
|
| 504 |
+
"type": "go straight",
|
| 505 |
+
"value": 3,
|
| 506 |
+
"yaw": -1.5707963267948966
|
| 507 |
+
}
|
| 508 |
+
}
|
| 509 |
+
{
|
| 510 |
+
"action": {
|
| 511 |
+
"imageid": 39,
|
| 512 |
+
"pos": [
|
| 513 |
+
28.588505928906088,
|
| 514 |
+
-33.73200984615677,
|
| 515 |
+
-1.9603768975291658
|
| 516 |
+
],
|
| 517 |
+
"type": "go straight",
|
| 518 |
+
"value": 3,
|
| 519 |
+
"yaw": -1.5707963267948966
|
| 520 |
+
}
|
| 521 |
+
}
|
| 522 |
+
{
|
| 523 |
+
"action": {
|
| 524 |
+
"imageid": 40,
|
| 525 |
+
"pos": [
|
| 526 |
+
28.588505928906088,
|
| 527 |
+
-36.73200984615677,
|
| 528 |
+
-1.9603768975291658
|
| 529 |
+
],
|
| 530 |
+
"type": "go straight",
|
| 531 |
+
"value": 3,
|
| 532 |
+
"yaw": -1.5707963267948966
|
| 533 |
+
}
|
| 534 |
+
}
|
| 535 |
+
{
|
| 536 |
+
"action": {
|
| 537 |
+
"imageid": 41,
|
| 538 |
+
"pos": [
|
| 539 |
+
28.588505928906088,
|
| 540 |
+
-39.73200984615677,
|
| 541 |
+
-1.9603768975291658
|
| 542 |
+
],
|
| 543 |
+
"type": "go straight",
|
| 544 |
+
"value": 3,
|
| 545 |
+
"yaw": -1.5707963267948966
|
| 546 |
+
}
|
| 547 |
+
}
|
| 548 |
+
{
|
| 549 |
+
"action": {
|
| 550 |
+
"imageid": 42,
|
| 551 |
+
"pos": [
|
| 552 |
+
28.588505928906088,
|
| 553 |
+
-42.73200984615677,
|
| 554 |
+
-1.9603768975291658
|
| 555 |
+
],
|
| 556 |
+
"type": "go straight",
|
| 557 |
+
"value": 3,
|
| 558 |
+
"yaw": -1.5707963267948966
|
| 559 |
+
}
|
| 560 |
+
}
|
| 561 |
+
{
|
| 562 |
+
"action": {
|
| 563 |
+
"imageid": 43,
|
| 564 |
+
"pos": [
|
| 565 |
+
28.588505928906088,
|
| 566 |
+
-45.73200984615677,
|
| 567 |
+
-1.9603768975291658
|
| 568 |
+
],
|
| 569 |
+
"type": "go straight",
|
| 570 |
+
"value": 3,
|
| 571 |
+
"yaw": -1.5707963267948966
|
| 572 |
+
}
|
| 573 |
+
}
|
| 574 |
+
{
|
| 575 |
+
"action": {
|
| 576 |
+
"imageid": 44,
|
| 577 |
+
"pos": [
|
| 578 |
+
28.588505928906088,
|
| 579 |
+
-48.73200984615677,
|
| 580 |
+
-1.9603768975291658
|
| 581 |
+
],
|
| 582 |
+
"type": "go straight",
|
| 583 |
+
"value": 3,
|
| 584 |
+
"yaw": -1.5707963267948966
|
| 585 |
+
}
|
| 586 |
+
}
|
| 587 |
+
{
|
| 588 |
+
"action": {
|
| 589 |
+
"imageid": 45,
|
| 590 |
+
"pos": [
|
| 591 |
+
28.588505928906088,
|
| 592 |
+
-51.73200984615677,
|
| 593 |
+
-1.9603768975291658
|
| 594 |
+
],
|
| 595 |
+
"type": "go straight",
|
| 596 |
+
"value": 3,
|
| 597 |
+
"yaw": -1.5707963267948966
|
| 598 |
+
}
|
| 599 |
+
}
|
| 600 |
+
{
|
| 601 |
+
"action": {
|
| 602 |
+
"imageid": 46,
|
| 603 |
+
"pos": [
|
| 604 |
+
28.588505928906088,
|
| 605 |
+
-54.73200984615677,
|
| 606 |
+
-1.9603768975291658
|
| 607 |
+
],
|
| 608 |
+
"type": "go straight",
|
| 609 |
+
"value": 3,
|
| 610 |
+
"yaw": -1.5707963267948966
|
| 611 |
+
}
|
| 612 |
+
}
|
| 613 |
+
{
|
| 614 |
+
"action": {
|
| 615 |
+
"imageid": 47,
|
| 616 |
+
"pos": [
|
| 617 |
+
28.588505928906088,
|
| 618 |
+
-57.73200984615677,
|
| 619 |
+
-1.9603768975291658
|
| 620 |
+
],
|
| 621 |
+
"type": "go straight",
|
| 622 |
+
"value": 3,
|
| 623 |
+
"yaw": -1.5707963267948966
|
| 624 |
+
}
|
| 625 |
+
}
|
| 626 |
+
{
|
| 627 |
+
"action": {
|
| 628 |
+
"imageid": 48,
|
| 629 |
+
"pos": [
|
| 630 |
+
28.588505928906088,
|
| 631 |
+
-60.73200984615677,
|
| 632 |
+
-1.9603768975291658
|
| 633 |
+
],
|
| 634 |
+
"type": "go straight",
|
| 635 |
+
"value": 3,
|
| 636 |
+
"yaw": -1.5707963267948966
|
| 637 |
+
}
|
| 638 |
+
}
|
| 639 |
+
{
|
| 640 |
+
"action": {
|
| 641 |
+
"imageid": 49,
|
| 642 |
+
"pos": [
|
| 643 |
+
28.588505928906088,
|
| 644 |
+
-63.73200984615677,
|
| 645 |
+
-1.9603768975291658
|
| 646 |
+
],
|
| 647 |
+
"type": "turn right",
|
| 648 |
+
"value": 30,
|
| 649 |
+
"yaw": -1.5707963267948966
|
| 650 |
+
}
|
| 651 |
+
}
|
| 652 |
+
{
|
| 653 |
+
"action": {
|
| 654 |
+
"imageid": 50,
|
| 655 |
+
"pos": [
|
| 656 |
+
28.588505928906088,
|
| 657 |
+
-63.73200984615677,
|
| 658 |
+
-1.9603768975291658
|
| 659 |
+
],
|
| 660 |
+
"type": "turn right",
|
| 661 |
+
"value": 30,
|
| 662 |
+
"yaw": -2.0943951023931953
|
| 663 |
+
}
|
| 664 |
+
}
|
| 665 |
+
{
|
| 666 |
+
"action": {
|
| 667 |
+
"imageid": 51,
|
| 668 |
+
"pos": [
|
| 669 |
+
28.588505928906088,
|
| 670 |
+
-63.73200984615677,
|
| 671 |
+
-1.9603768975291658
|
| 672 |
+
],
|
| 673 |
+
"type": "go straight",
|
| 674 |
+
"value": 3,
|
| 675 |
+
"yaw": -2.617993877991494
|
| 676 |
+
}
|
| 677 |
+
}
|
| 678 |
+
{
|
| 679 |
+
"action": {
|
| 680 |
+
"imageid": 52,
|
| 681 |
+
"pos": [
|
| 682 |
+
25.99042971755277,
|
| 683 |
+
-65.23200984615677,
|
| 684 |
+
-1.9603768975291658
|
| 685 |
+
],
|
| 686 |
+
"type": "go straight",
|
| 687 |
+
"value": 3,
|
| 688 |
+
"yaw": -2.6179938779914944
|
| 689 |
+
}
|
| 690 |
+
}
|
| 691 |
+
{
|
| 692 |
+
"action": {
|
| 693 |
+
"imageid": 53,
|
| 694 |
+
"pos": [
|
| 695 |
+
23.392353506199456,
|
| 696 |
+
-66.73200984615677,
|
| 697 |
+
-1.9603768975291658
|
| 698 |
+
],
|
| 699 |
+
"type": "go straight",
|
| 700 |
+
"value": 3,
|
| 701 |
+
"yaw": -2.6179938779914944
|
| 702 |
+
}
|
| 703 |
+
}
|
| 704 |
+
{
|
| 705 |
+
"action": {
|
| 706 |
+
"imageid": 54,
|
| 707 |
+
"pos": [
|
| 708 |
+
20.79427729484614,
|
| 709 |
+
-68.23200984615677,
|
| 710 |
+
-1.9603768975291658
|
| 711 |
+
],
|
| 712 |
+
"type": "go straight",
|
| 713 |
+
"value": 3,
|
| 714 |
+
"yaw": -2.6179938779914944
|
| 715 |
+
}
|
| 716 |
+
}
|
| 717 |
+
{
|
| 718 |
+
"action": {
|
| 719 |
+
"imageid": 55,
|
| 720 |
+
"pos": [
|
| 721 |
+
18.196201083492824,
|
| 722 |
+
-69.73200984615677,
|
| 723 |
+
-1.9603768975291658
|
| 724 |
+
],
|
| 725 |
+
"type": "stop",
|
| 726 |
+
"value": 0,
|
| 727 |
+
"yaw": -2.6179938779914944
|
| 728 |
+
}
|
| 729 |
+
}
|
| 730 |
+
{
|
| 731 |
+
"aim_landmark": {
|
| 732 |
+
"color": "test",
|
| 733 |
+
"feature": "test",
|
| 734 |
+
"position": [
|
| 735 |
+
17.12450046539307,
|
| 736 |
+
-73.06071357727052,
|
| 737 |
+
0.0
|
| 738 |
+
],
|
| 739 |
+
"shape": "test",
|
| 740 |
+
"size": "test",
|
| 741 |
+
"type": "building"
|
| 742 |
+
}
|
| 743 |
+
}
|
Image/env_gs_nwpu02/astar_data/long/2025-1-16_14-3-5_35005211/pose.jsonl
ADDED
|
@@ -0,0 +1,483 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
841.4695990449654,
|
| 6 |
+
-334.1559395508624,
|
| 7 |
+
-8.913466003832704
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 1.0471975511965979
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
842.9695990449654,
|
| 19 |
+
-331.5578633395091,
|
| 20 |
+
-8.913466003832704
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 1.0471975511965979
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
844.4695990449654,
|
| 32 |
+
-328.95978712815577,
|
| 33 |
+
-8.913466003832704
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 1.0471975511965979
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
845.9695990449654,
|
| 45 |
+
-326.36171091680245,
|
| 46 |
+
-8.913466003832704
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 1.0471975511965979
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
847.4695990449654,
|
| 58 |
+
-323.76363470544914,
|
| 59 |
+
-8.913466003832704
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 1.0471975511965979
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
848.9695990449654,
|
| 71 |
+
-321.1655584940958,
|
| 72 |
+
-8.913466003832704
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 1.0471975511965979
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
850.4695990449654,
|
| 84 |
+
-318.5674822827425,
|
| 85 |
+
-8.913466003832704
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 1.0471975511965979
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
851.9695990449654,
|
| 97 |
+
-315.9694060713892,
|
| 98 |
+
-8.913466003832704
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 1.0471975511965979
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
853.4695990449654,
|
| 110 |
+
-313.37132986003587,
|
| 111 |
+
-8.913466003832704
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 1.0471975511965979
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
854.9695990449654,
|
| 123 |
+
-310.77325364868256,
|
| 124 |
+
-8.913466003832704
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 1.0471975511965979
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
856.4695990449654,
|
| 136 |
+
-308.17517743732924,
|
| 137 |
+
-8.913466003832704
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 1.0471975511965979
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
857.9695990449654,
|
| 149 |
+
-305.5771012259759,
|
| 150 |
+
-8.913466003832704
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 1.0471975511965979
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
859.4695990449654,
|
| 162 |
+
-302.9790250146226,
|
| 163 |
+
-8.913466003832704
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 1.0471975511965979
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
860.9695990449654,
|
| 175 |
+
-300.3809488032693,
|
| 176 |
+
-8.913466003832704
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 1.0471975511965979
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"aim_landmark": {
|
| 185 |
+
"color": "test",
|
| 186 |
+
"feature": "test",
|
| 187 |
+
"position": [
|
| 188 |
+
871.2010513305664,
|
| 189 |
+
-278.09218101501466,
|
| 190 |
+
0.0
|
| 191 |
+
],
|
| 192 |
+
"shape": "test",
|
| 193 |
+
"size": "test",
|
| 194 |
+
"type": "building"
|
| 195 |
+
}
|
| 196 |
+
}
|
| 197 |
+
{
|
| 198 |
+
"action": {
|
| 199 |
+
"imageid": 15,
|
| 200 |
+
"pos": [
|
| 201 |
+
862.4695990449654,
|
| 202 |
+
-297.782872591916,
|
| 203 |
+
-8.913466003832704
|
| 204 |
+
],
|
| 205 |
+
"type": "turn right",
|
| 206 |
+
"value": 30,
|
| 207 |
+
"yaw": 1.0471975511965979
|
| 208 |
+
}
|
| 209 |
+
}
|
| 210 |
+
{
|
| 211 |
+
"action": {
|
| 212 |
+
"imageid": 16,
|
| 213 |
+
"pos": [
|
| 214 |
+
862.4695990449654,
|
| 215 |
+
-297.782872591916,
|
| 216 |
+
-8.913466003832704
|
| 217 |
+
],
|
| 218 |
+
"type": "turn right",
|
| 219 |
+
"value": 30,
|
| 220 |
+
"yaw": 0.523598775598299
|
| 221 |
+
}
|
| 222 |
+
}
|
| 223 |
+
{
|
| 224 |
+
"action": {
|
| 225 |
+
"imageid": 17,
|
| 226 |
+
"pos": [
|
| 227 |
+
862.4695990449654,
|
| 228 |
+
-297.782872591916,
|
| 229 |
+
-8.913466003832704
|
| 230 |
+
],
|
| 231 |
+
"type": "turn right",
|
| 232 |
+
"value": 30,
|
| 233 |
+
"yaw": 2.220446049250313e-16
|
| 234 |
+
}
|
| 235 |
+
}
|
| 236 |
+
{
|
| 237 |
+
"action": {
|
| 238 |
+
"imageid": 18,
|
| 239 |
+
"pos": [
|
| 240 |
+
862.4695990449654,
|
| 241 |
+
-297.782872591916,
|
| 242 |
+
-8.913466003832704
|
| 243 |
+
],
|
| 244 |
+
"type": "go straight",
|
| 245 |
+
"value": 3,
|
| 246 |
+
"yaw": 0.0
|
| 247 |
+
}
|
| 248 |
+
}
|
| 249 |
+
{
|
| 250 |
+
"action": {
|
| 251 |
+
"imageid": 19,
|
| 252 |
+
"pos": [
|
| 253 |
+
865.4695990449654,
|
| 254 |
+
-297.782872591916,
|
| 255 |
+
-8.913466003832704
|
| 256 |
+
],
|
| 257 |
+
"type": "go straight",
|
| 258 |
+
"value": 3,
|
| 259 |
+
"yaw": 0.0
|
| 260 |
+
}
|
| 261 |
+
}
|
| 262 |
+
{
|
| 263 |
+
"action": {
|
| 264 |
+
"imageid": 20,
|
| 265 |
+
"pos": [
|
| 266 |
+
868.4695990449654,
|
| 267 |
+
-297.782872591916,
|
| 268 |
+
-8.913466003832704
|
| 269 |
+
],
|
| 270 |
+
"type": "go straight",
|
| 271 |
+
"value": 3,
|
| 272 |
+
"yaw": 0.0
|
| 273 |
+
}
|
| 274 |
+
}
|
| 275 |
+
{
|
| 276 |
+
"action": {
|
| 277 |
+
"imageid": 21,
|
| 278 |
+
"pos": [
|
| 279 |
+
871.4695990449654,
|
| 280 |
+
-297.782872591916,
|
| 281 |
+
-8.913466003832704
|
| 282 |
+
],
|
| 283 |
+
"type": "go straight",
|
| 284 |
+
"value": 3,
|
| 285 |
+
"yaw": 0.0
|
| 286 |
+
}
|
| 287 |
+
}
|
| 288 |
+
{
|
| 289 |
+
"action": {
|
| 290 |
+
"imageid": 22,
|
| 291 |
+
"pos": [
|
| 292 |
+
874.4695990449654,
|
| 293 |
+
-297.782872591916,
|
| 294 |
+
-8.913466003832704
|
| 295 |
+
],
|
| 296 |
+
"type": "turn left",
|
| 297 |
+
"value": 30,
|
| 298 |
+
"yaw": 0.0
|
| 299 |
+
}
|
| 300 |
+
}
|
| 301 |
+
{
|
| 302 |
+
"action": {
|
| 303 |
+
"imageid": 23,
|
| 304 |
+
"pos": [
|
| 305 |
+
874.4695990449654,
|
| 306 |
+
-297.782872591916,
|
| 307 |
+
-8.913466003832704
|
| 308 |
+
],
|
| 309 |
+
"type": "go straight",
|
| 310 |
+
"value": 3,
|
| 311 |
+
"yaw": 0.5235987755982988
|
| 312 |
+
}
|
| 313 |
+
}
|
| 314 |
+
{
|
| 315 |
+
"action": {
|
| 316 |
+
"imageid": 24,
|
| 317 |
+
"pos": [
|
| 318 |
+
877.0676752563188,
|
| 319 |
+
-296.282872591916,
|
| 320 |
+
-8.913466003832704
|
| 321 |
+
],
|
| 322 |
+
"type": "go straight",
|
| 323 |
+
"value": 3,
|
| 324 |
+
"yaw": 0.5235987755982894
|
| 325 |
+
}
|
| 326 |
+
}
|
| 327 |
+
{
|
| 328 |
+
"action": {
|
| 329 |
+
"imageid": 25,
|
| 330 |
+
"pos": [
|
| 331 |
+
879.6657514676722,
|
| 332 |
+
-294.782872591916,
|
| 333 |
+
-8.913466003832704
|
| 334 |
+
],
|
| 335 |
+
"type": "go straight",
|
| 336 |
+
"value": 3,
|
| 337 |
+
"yaw": 0.5235987755982894
|
| 338 |
+
}
|
| 339 |
+
}
|
| 340 |
+
{
|
| 341 |
+
"action": {
|
| 342 |
+
"imageid": 26,
|
| 343 |
+
"pos": [
|
| 344 |
+
882.2638276790256,
|
| 345 |
+
-293.282872591916,
|
| 346 |
+
-8.913466003832704
|
| 347 |
+
],
|
| 348 |
+
"type": "go straight",
|
| 349 |
+
"value": 3,
|
| 350 |
+
"yaw": 0.5235987755982894
|
| 351 |
+
}
|
| 352 |
+
}
|
| 353 |
+
{
|
| 354 |
+
"action": {
|
| 355 |
+
"imageid": 27,
|
| 356 |
+
"pos": [
|
| 357 |
+
884.8619038903789,
|
| 358 |
+
-291.782872591916,
|
| 359 |
+
-8.913466003832704
|
| 360 |
+
],
|
| 361 |
+
"type": "go straight",
|
| 362 |
+
"value": 3,
|
| 363 |
+
"yaw": 0.5235987755982894
|
| 364 |
+
}
|
| 365 |
+
}
|
| 366 |
+
{
|
| 367 |
+
"action": {
|
| 368 |
+
"imageid": 28,
|
| 369 |
+
"pos": [
|
| 370 |
+
887.4599801017323,
|
| 371 |
+
-290.282872591916,
|
| 372 |
+
-8.913466003832704
|
| 373 |
+
],
|
| 374 |
+
"type": "go straight",
|
| 375 |
+
"value": 3,
|
| 376 |
+
"yaw": 0.5235987755982894
|
| 377 |
+
}
|
| 378 |
+
}
|
| 379 |
+
{
|
| 380 |
+
"action": {
|
| 381 |
+
"imageid": 29,
|
| 382 |
+
"pos": [
|
| 383 |
+
890.0580563130857,
|
| 384 |
+
-288.782872591916,
|
| 385 |
+
-8.913466003832704
|
| 386 |
+
],
|
| 387 |
+
"type": "go straight",
|
| 388 |
+
"value": 3,
|
| 389 |
+
"yaw": 0.5235987755982894
|
| 390 |
+
}
|
| 391 |
+
}
|
| 392 |
+
{
|
| 393 |
+
"action": {
|
| 394 |
+
"imageid": 30,
|
| 395 |
+
"pos": [
|
| 396 |
+
892.656132524439,
|
| 397 |
+
-287.282872591916,
|
| 398 |
+
-8.913466003832704
|
| 399 |
+
],
|
| 400 |
+
"type": "go straight",
|
| 401 |
+
"value": 3,
|
| 402 |
+
"yaw": 0.5235987755982894
|
| 403 |
+
}
|
| 404 |
+
}
|
| 405 |
+
{
|
| 406 |
+
"action": {
|
| 407 |
+
"imageid": 31,
|
| 408 |
+
"pos": [
|
| 409 |
+
895.2542087357924,
|
| 410 |
+
-285.782872591916,
|
| 411 |
+
-8.913466003832704
|
| 412 |
+
],
|
| 413 |
+
"type": "go straight",
|
| 414 |
+
"value": 3,
|
| 415 |
+
"yaw": 0.5235987755982894
|
| 416 |
+
}
|
| 417 |
+
}
|
| 418 |
+
{
|
| 419 |
+
"action": {
|
| 420 |
+
"imageid": 32,
|
| 421 |
+
"pos": [
|
| 422 |
+
897.8522849471458,
|
| 423 |
+
-284.282872591916,
|
| 424 |
+
-8.913466003832704
|
| 425 |
+
],
|
| 426 |
+
"type": "go straight",
|
| 427 |
+
"value": 3,
|
| 428 |
+
"yaw": 0.5235987755982894
|
| 429 |
+
}
|
| 430 |
+
}
|
| 431 |
+
{
|
| 432 |
+
"action": {
|
| 433 |
+
"imageid": 33,
|
| 434 |
+
"pos": [
|
| 435 |
+
900.4503611584992,
|
| 436 |
+
-282.782872591916,
|
| 437 |
+
-8.913466003832704
|
| 438 |
+
],
|
| 439 |
+
"type": "go straight",
|
| 440 |
+
"value": 3,
|
| 441 |
+
"yaw": 0.5235987755982894
|
| 442 |
+
}
|
| 443 |
+
}
|
| 444 |
+
{
|
| 445 |
+
"action": {
|
| 446 |
+
"imageid": 34,
|
| 447 |
+
"pos": [
|
| 448 |
+
903.0484373698525,
|
| 449 |
+
-281.282872591916,
|
| 450 |
+
-8.913466003832704
|
| 451 |
+
],
|
| 452 |
+
"type": "go straight",
|
| 453 |
+
"value": 3,
|
| 454 |
+
"yaw": 0.5235987755982894
|
| 455 |
+
}
|
| 456 |
+
}
|
| 457 |
+
{
|
| 458 |
+
"action": {
|
| 459 |
+
"imageid": 35,
|
| 460 |
+
"pos": [
|
| 461 |
+
905.6465135812059,
|
| 462 |
+
-279.782872591916,
|
| 463 |
+
-8.913466003832704
|
| 464 |
+
],
|
| 465 |
+
"type": "stop",
|
| 466 |
+
"value": 0,
|
| 467 |
+
"yaw": 0.5235987755982894
|
| 468 |
+
}
|
| 469 |
+
}
|
| 470 |
+
{
|
| 471 |
+
"aim_landmark": {
|
| 472 |
+
"color": "test",
|
| 473 |
+
"feature": "test",
|
| 474 |
+
"position": [
|
| 475 |
+
919.2332725524903,
|
| 476 |
+
-271.52674827575686,
|
| 477 |
+
0.0
|
| 478 |
+
],
|
| 479 |
+
"shape": "test",
|
| 480 |
+
"size": "test",
|
| 481 |
+
"type": "building"
|
| 482 |
+
}
|
| 483 |
+
}
|
Image/env_gs_nwpu02/astar_data/long/2025-1-16_14-33-30_294702567/pose.jsonl
ADDED
|
@@ -0,0 +1,626 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-202.35628976503992,
|
| 6 |
+
-273.5248243950957,
|
| 7 |
+
-3.79762525043891
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 1.0471975511965979
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-200.85628976503992,
|
| 19 |
+
-270.9267481837424,
|
| 20 |
+
-3.79762525043891
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 1.0471975511965979
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-199.35628976503992,
|
| 32 |
+
-268.3286719723891,
|
| 33 |
+
-3.79762525043891
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 1.0471975511965979
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-197.85628976503992,
|
| 45 |
+
-265.7305957610358,
|
| 46 |
+
-3.79762525043891
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 1.0471975511965979
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-196.35628976503992,
|
| 58 |
+
-263.13251954968246,
|
| 59 |
+
-3.79762525043891
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 1.0471975511965979
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-194.85628976503992,
|
| 71 |
+
-260.53444333832914,
|
| 72 |
+
-3.79762525043891
|
| 73 |
+
],
|
| 74 |
+
"type": "turn right",
|
| 75 |
+
"value": 30,
|
| 76 |
+
"yaw": 1.0471975511965979
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-194.85628976503992,
|
| 84 |
+
-260.53444333832914,
|
| 85 |
+
-3.79762525043891
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 0.523598775598299
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-192.2582135536866,
|
| 97 |
+
-259.03444333832914,
|
| 98 |
+
-3.79762525043891
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 0.5235987755982988
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-189.6601373423333,
|
| 110 |
+
-257.53444333832914,
|
| 111 |
+
-3.79762525043891
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 0.5235987755982988
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-187.06206113097997,
|
| 123 |
+
-256.03444333832914,
|
| 124 |
+
-3.79762525043891
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 0.5235987755982988
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-184.46398491962665,
|
| 136 |
+
-254.53444333832914,
|
| 137 |
+
-3.79762525043891
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 0.5235987755982988
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-181.86590870827334,
|
| 149 |
+
-253.03444333832914,
|
| 150 |
+
-3.79762525043891
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 0.5235987755982988
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-179.26783249692002,
|
| 162 |
+
-251.53444333832914,
|
| 163 |
+
-3.79762525043891
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 0.5235987755982988
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-176.6697562855667,
|
| 175 |
+
-250.03444333832914,
|
| 176 |
+
-3.79762525043891
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 0.5235987755982988
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-174.0716800742134,
|
| 188 |
+
-248.53444333832914,
|
| 189 |
+
-3.79762525043891
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 0.5235987755982988
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-171.47360386286007,
|
| 201 |
+
-247.03444333832914,
|
| 202 |
+
-3.79762525043891
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 0.5235987755982988
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-168.87552765150676,
|
| 214 |
+
-245.53444333832914,
|
| 215 |
+
-3.79762525043891
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 0.5235987755982988
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-166.27745144015344,
|
| 227 |
+
-244.03444333832914,
|
| 228 |
+
-3.79762525043891
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 0.5235987755982988
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
-163.67937522880013,
|
| 240 |
+
-242.53444333832914,
|
| 241 |
+
-3.79762525043891
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 0.5235987755982988
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
-161.0812990174468,
|
| 253 |
+
-241.03444333832914,
|
| 254 |
+
-3.79762525043891
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": 0.5235987755982988
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
-158.4832228060935,
|
| 266 |
+
-239.53444333832914,
|
| 267 |
+
-3.79762525043891
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": 0.5235987755982988
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
-155.88514659474018,
|
| 279 |
+
-238.03444333832914,
|
| 280 |
+
-3.79762525043891
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": 0.5235987755982988
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"aim_landmark": {
|
| 289 |
+
"color": "test",
|
| 290 |
+
"feature": "test",
|
| 291 |
+
"position": [
|
| 292 |
+
-152.3348680496216,
|
| 293 |
+
-234.43780555725098,
|
| 294 |
+
0.0
|
| 295 |
+
],
|
| 296 |
+
"shape": "test",
|
| 297 |
+
"size": "test",
|
| 298 |
+
"type": "building"
|
| 299 |
+
}
|
| 300 |
+
}
|
| 301 |
+
{
|
| 302 |
+
"action": {
|
| 303 |
+
"imageid": 23,
|
| 304 |
+
"pos": [
|
| 305 |
+
-153.28707038338686,
|
| 306 |
+
-236.53444333832914,
|
| 307 |
+
-3.79762525043891
|
| 308 |
+
],
|
| 309 |
+
"type": "turn right",
|
| 310 |
+
"value": 30,
|
| 311 |
+
"yaw": 0.5235987755982988
|
| 312 |
+
}
|
| 313 |
+
}
|
| 314 |
+
{
|
| 315 |
+
"action": {
|
| 316 |
+
"imageid": 24,
|
| 317 |
+
"pos": [
|
| 318 |
+
-153.28707038338686,
|
| 319 |
+
-236.53444333832914,
|
| 320 |
+
-3.79762525043891
|
| 321 |
+
],
|
| 322 |
+
"type": "turn right",
|
| 323 |
+
"value": 30,
|
| 324 |
+
"yaw": 0.0
|
| 325 |
+
}
|
| 326 |
+
}
|
| 327 |
+
{
|
| 328 |
+
"action": {
|
| 329 |
+
"imageid": 25,
|
| 330 |
+
"pos": [
|
| 331 |
+
-153.28707038338686,
|
| 332 |
+
-236.53444333832914,
|
| 333 |
+
-3.79762525043891
|
| 334 |
+
],
|
| 335 |
+
"type": "turn right",
|
| 336 |
+
"value": 30,
|
| 337 |
+
"yaw": -0.5235987755982988
|
| 338 |
+
}
|
| 339 |
+
}
|
| 340 |
+
{
|
| 341 |
+
"action": {
|
| 342 |
+
"imageid": 26,
|
| 343 |
+
"pos": [
|
| 344 |
+
-153.28707038338686,
|
| 345 |
+
-236.53444333832914,
|
| 346 |
+
-3.79762525043891
|
| 347 |
+
],
|
| 348 |
+
"type": "turn right",
|
| 349 |
+
"value": 30,
|
| 350 |
+
"yaw": -1.0471975511965979
|
| 351 |
+
}
|
| 352 |
+
}
|
| 353 |
+
{
|
| 354 |
+
"action": {
|
| 355 |
+
"imageid": 27,
|
| 356 |
+
"pos": [
|
| 357 |
+
-153.28707038338686,
|
| 358 |
+
-236.53444333832914,
|
| 359 |
+
-3.79762525043891
|
| 360 |
+
],
|
| 361 |
+
"type": "go straight",
|
| 362 |
+
"value": 3,
|
| 363 |
+
"yaw": -1.0471975511965979
|
| 364 |
+
}
|
| 365 |
+
}
|
| 366 |
+
{
|
| 367 |
+
"action": {
|
| 368 |
+
"imageid": 28,
|
| 369 |
+
"pos": [
|
| 370 |
+
-151.78707038338686,
|
| 371 |
+
-239.13251954968246,
|
| 372 |
+
-3.79762525043891
|
| 373 |
+
],
|
| 374 |
+
"type": "go straight",
|
| 375 |
+
"value": 3,
|
| 376 |
+
"yaw": -1.0471975511965979
|
| 377 |
+
}
|
| 378 |
+
}
|
| 379 |
+
{
|
| 380 |
+
"action": {
|
| 381 |
+
"imageid": 29,
|
| 382 |
+
"pos": [
|
| 383 |
+
-150.28707038338686,
|
| 384 |
+
-241.73059576103577,
|
| 385 |
+
-3.79762525043891
|
| 386 |
+
],
|
| 387 |
+
"type": "go straight",
|
| 388 |
+
"value": 3,
|
| 389 |
+
"yaw": -1.0471975511965979
|
| 390 |
+
}
|
| 391 |
+
}
|
| 392 |
+
{
|
| 393 |
+
"action": {
|
| 394 |
+
"imageid": 30,
|
| 395 |
+
"pos": [
|
| 396 |
+
-148.78707038338686,
|
| 397 |
+
-244.3286719723891,
|
| 398 |
+
-3.79762525043891
|
| 399 |
+
],
|
| 400 |
+
"type": "go straight",
|
| 401 |
+
"value": 3,
|
| 402 |
+
"yaw": -1.0471975511965979
|
| 403 |
+
}
|
| 404 |
+
}
|
| 405 |
+
{
|
| 406 |
+
"action": {
|
| 407 |
+
"imageid": 31,
|
| 408 |
+
"pos": [
|
| 409 |
+
-147.28707038338686,
|
| 410 |
+
-246.9267481837424,
|
| 411 |
+
-3.79762525043891
|
| 412 |
+
],
|
| 413 |
+
"type": "go straight",
|
| 414 |
+
"value": 3,
|
| 415 |
+
"yaw": -1.0471975511965979
|
| 416 |
+
}
|
| 417 |
+
}
|
| 418 |
+
{
|
| 419 |
+
"action": {
|
| 420 |
+
"imageid": 32,
|
| 421 |
+
"pos": [
|
| 422 |
+
-145.78707038338686,
|
| 423 |
+
-249.52482439509572,
|
| 424 |
+
-3.79762525043891
|
| 425 |
+
],
|
| 426 |
+
"type": "go straight",
|
| 427 |
+
"value": 3,
|
| 428 |
+
"yaw": -1.0471975511965979
|
| 429 |
+
}
|
| 430 |
+
}
|
| 431 |
+
{
|
| 432 |
+
"action": {
|
| 433 |
+
"imageid": 33,
|
| 434 |
+
"pos": [
|
| 435 |
+
-144.28707038338686,
|
| 436 |
+
-252.12290060644904,
|
| 437 |
+
-3.79762525043891
|
| 438 |
+
],
|
| 439 |
+
"type": "go straight",
|
| 440 |
+
"value": 3,
|
| 441 |
+
"yaw": -1.0471975511965979
|
| 442 |
+
}
|
| 443 |
+
}
|
| 444 |
+
{
|
| 445 |
+
"action": {
|
| 446 |
+
"imageid": 34,
|
| 447 |
+
"pos": [
|
| 448 |
+
-142.78707038338686,
|
| 449 |
+
-254.72097681780235,
|
| 450 |
+
-3.79762525043891
|
| 451 |
+
],
|
| 452 |
+
"type": "go straight",
|
| 453 |
+
"value": 3,
|
| 454 |
+
"yaw": -1.0471975511965979
|
| 455 |
+
}
|
| 456 |
+
}
|
| 457 |
+
{
|
| 458 |
+
"action": {
|
| 459 |
+
"imageid": 35,
|
| 460 |
+
"pos": [
|
| 461 |
+
-141.28707038338686,
|
| 462 |
+
-257.31905302915567,
|
| 463 |
+
-3.79762525043891
|
| 464 |
+
],
|
| 465 |
+
"type": "go straight",
|
| 466 |
+
"value": 3,
|
| 467 |
+
"yaw": -1.0471975511965979
|
| 468 |
+
}
|
| 469 |
+
}
|
| 470 |
+
{
|
| 471 |
+
"action": {
|
| 472 |
+
"imageid": 36,
|
| 473 |
+
"pos": [
|
| 474 |
+
-139.78707038338686,
|
| 475 |
+
-259.917129240509,
|
| 476 |
+
-3.79762525043891
|
| 477 |
+
],
|
| 478 |
+
"type": "go straight",
|
| 479 |
+
"value": 3,
|
| 480 |
+
"yaw": -1.0471975511965979
|
| 481 |
+
}
|
| 482 |
+
}
|
| 483 |
+
{
|
| 484 |
+
"action": {
|
| 485 |
+
"imageid": 37,
|
| 486 |
+
"pos": [
|
| 487 |
+
-138.28707038338686,
|
| 488 |
+
-262.5152054518623,
|
| 489 |
+
-3.79762525043891
|
| 490 |
+
],
|
| 491 |
+
"type": "go straight",
|
| 492 |
+
"value": 3,
|
| 493 |
+
"yaw": -1.0471975511965979
|
| 494 |
+
}
|
| 495 |
+
}
|
| 496 |
+
{
|
| 497 |
+
"action": {
|
| 498 |
+
"imageid": 38,
|
| 499 |
+
"pos": [
|
| 500 |
+
-136.78707038338686,
|
| 501 |
+
-265.1132816632156,
|
| 502 |
+
-3.79762525043891
|
| 503 |
+
],
|
| 504 |
+
"type": "go straight",
|
| 505 |
+
"value": 3,
|
| 506 |
+
"yaw": -1.0471975511965979
|
| 507 |
+
}
|
| 508 |
+
}
|
| 509 |
+
{
|
| 510 |
+
"action": {
|
| 511 |
+
"imageid": 39,
|
| 512 |
+
"pos": [
|
| 513 |
+
-135.28707038338686,
|
| 514 |
+
-267.71135787456893,
|
| 515 |
+
-3.79762525043891
|
| 516 |
+
],
|
| 517 |
+
"type": "go straight",
|
| 518 |
+
"value": 3,
|
| 519 |
+
"yaw": -1.0471975511965979
|
| 520 |
+
}
|
| 521 |
+
}
|
| 522 |
+
{
|
| 523 |
+
"action": {
|
| 524 |
+
"imageid": 40,
|
| 525 |
+
"pos": [
|
| 526 |
+
-133.78707038338686,
|
| 527 |
+
-270.30943408592225,
|
| 528 |
+
-3.79762525043891
|
| 529 |
+
],
|
| 530 |
+
"type": "go straight",
|
| 531 |
+
"value": 3,
|
| 532 |
+
"yaw": -1.0471975511965979
|
| 533 |
+
}
|
| 534 |
+
}
|
| 535 |
+
{
|
| 536 |
+
"action": {
|
| 537 |
+
"imageid": 41,
|
| 538 |
+
"pos": [
|
| 539 |
+
-132.28707038338686,
|
| 540 |
+
-272.90751029727556,
|
| 541 |
+
-3.79762525043891
|
| 542 |
+
],
|
| 543 |
+
"type": "go straight",
|
| 544 |
+
"value": 3,
|
| 545 |
+
"yaw": -1.0471975511965979
|
| 546 |
+
}
|
| 547 |
+
}
|
| 548 |
+
{
|
| 549 |
+
"action": {
|
| 550 |
+
"imageid": 42,
|
| 551 |
+
"pos": [
|
| 552 |
+
-130.78707038338686,
|
| 553 |
+
-275.5055865086289,
|
| 554 |
+
-3.79762525043891
|
| 555 |
+
],
|
| 556 |
+
"type": "go straight",
|
| 557 |
+
"value": 3,
|
| 558 |
+
"yaw": -1.0471975511965979
|
| 559 |
+
}
|
| 560 |
+
}
|
| 561 |
+
{
|
| 562 |
+
"action": {
|
| 563 |
+
"imageid": 43,
|
| 564 |
+
"pos": [
|
| 565 |
+
-129.28707038338686,
|
| 566 |
+
-278.1036627199822,
|
| 567 |
+
-3.79762525043891
|
| 568 |
+
],
|
| 569 |
+
"type": "go straight",
|
| 570 |
+
"value": 3,
|
| 571 |
+
"yaw": -1.0471975511965979
|
| 572 |
+
}
|
| 573 |
+
}
|
| 574 |
+
{
|
| 575 |
+
"action": {
|
| 576 |
+
"imageid": 44,
|
| 577 |
+
"pos": [
|
| 578 |
+
-127.78707038338686,
|
| 579 |
+
-280.7017389313355,
|
| 580 |
+
-3.79762525043891
|
| 581 |
+
],
|
| 582 |
+
"type": "go straight",
|
| 583 |
+
"value": 3,
|
| 584 |
+
"yaw": -1.0471975511965979
|
| 585 |
+
}
|
| 586 |
+
}
|
| 587 |
+
{
|
| 588 |
+
"action": {
|
| 589 |
+
"imageid": 45,
|
| 590 |
+
"pos": [
|
| 591 |
+
-126.28707038338686,
|
| 592 |
+
-283.29981514268883,
|
| 593 |
+
-3.79762525043891
|
| 594 |
+
],
|
| 595 |
+
"type": "go straight",
|
| 596 |
+
"value": 3,
|
| 597 |
+
"yaw": -1.0471975511965979
|
| 598 |
+
}
|
| 599 |
+
}
|
| 600 |
+
{
|
| 601 |
+
"action": {
|
| 602 |
+
"imageid": 46,
|
| 603 |
+
"pos": [
|
| 604 |
+
-124.78707038338686,
|
| 605 |
+
-285.89789135404214,
|
| 606 |
+
-3.79762525043891
|
| 607 |
+
],
|
| 608 |
+
"type": "stop",
|
| 609 |
+
"value": 0,
|
| 610 |
+
"yaw": -1.0471975511965979
|
| 611 |
+
}
|
| 612 |
+
}
|
| 613 |
+
{
|
| 614 |
+
"aim_landmark": {
|
| 615 |
+
"color": "test",
|
| 616 |
+
"feature": "test",
|
| 617 |
+
"position": [
|
| 618 |
+
-122.89827556610108,
|
| 619 |
+
-288.4065223693848,
|
| 620 |
+
0.0
|
| 621 |
+
],
|
| 622 |
+
"shape": "test",
|
| 623 |
+
"size": "test",
|
| 624 |
+
"type": "building"
|
| 625 |
+
}
|
| 626 |
+
}
|
Image/env_gs_nwpu02/astar_data/long/2025-1-16_14-34-40_861021530/pose.jsonl
ADDED
|
@@ -0,0 +1,769 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
1319.5953476117636,
|
| 6 |
+
265.03419802202404,
|
| 7 |
+
2.555729248848394
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -2.6179938779915037
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
1316.9972714004102,
|
| 19 |
+
263.53419802202404,
|
| 20 |
+
2.555729248848394
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -2.6179938779915037
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
1314.3991951890569,
|
| 32 |
+
262.03419802202404,
|
| 33 |
+
2.555729248848394
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -2.6179938779915037
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
1311.8011189777035,
|
| 45 |
+
260.53419802202404,
|
| 46 |
+
2.555729248848394
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -2.6179938779915037
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
1309.20304276635,
|
| 58 |
+
259.03419802202404,
|
| 59 |
+
2.555729248848394
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -2.6179938779915037
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
1306.6049665549967,
|
| 71 |
+
257.53419802202404,
|
| 72 |
+
2.555729248848394
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -2.6179938779915037
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
1304.0068903436434,
|
| 84 |
+
256.03419802202404,
|
| 85 |
+
2.555729248848394
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -2.6179938779915037
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
1301.40881413229,
|
| 97 |
+
254.53419802202404,
|
| 98 |
+
2.555729248848394
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -2.6179938779915037
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
1298.8107379209366,
|
| 110 |
+
253.03419802202404,
|
| 111 |
+
2.555729248848394
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -2.6179938779915037
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
1296.2126617095832,
|
| 123 |
+
251.53419802202404,
|
| 124 |
+
2.555729248848394
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -2.6179938779915037
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
1293.6145854982299,
|
| 136 |
+
250.03419802202404,
|
| 137 |
+
2.555729248848394
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -2.6179938779915037
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
1291.0165092868765,
|
| 149 |
+
248.53419802202404,
|
| 150 |
+
2.555729248848394
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -2.6179938779915037
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
1288.4184330755231,
|
| 162 |
+
247.03419802202404,
|
| 163 |
+
2.555729248848394
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -2.6179938779915037
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
1285.8203568641698,
|
| 175 |
+
245.53419802202404,
|
| 176 |
+
2.555729248848394
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -2.6179938779915037
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
1283.2222806528164,
|
| 188 |
+
244.03419802202404,
|
| 189 |
+
2.555729248848394
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -2.6179938779915037
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
1280.624204441463,
|
| 201 |
+
242.53419802202404,
|
| 202 |
+
2.555729248848394
|
| 203 |
+
],
|
| 204 |
+
"type": "turn right",
|
| 205 |
+
"value": 30,
|
| 206 |
+
"yaw": -2.6179938779915037
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
1280.624204441463,
|
| 214 |
+
242.53419802202404,
|
| 215 |
+
2.555729248848394
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -3.1415926535898024
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
1277.624204441463,
|
| 227 |
+
242.53419802202404,
|
| 228 |
+
2.555729248848394
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 3.141592653589793
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
1274.624204441463,
|
| 240 |
+
242.53419802202404,
|
| 241 |
+
2.555729248848394
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 3.141592653589793
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
1271.624204441463,
|
| 253 |
+
242.53419802202404,
|
| 254 |
+
2.555729248848394
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": 3.141592653589793
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
1268.624204441463,
|
| 266 |
+
242.53419802202404,
|
| 267 |
+
2.555729248848394
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": 3.141592653589793
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
1265.624204441463,
|
| 279 |
+
242.53419802202404,
|
| 280 |
+
2.555729248848394
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": 3.141592653589793
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
1262.624204441463,
|
| 292 |
+
242.53419802202404,
|
| 293 |
+
2.555729248848394
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": 3.141592653589793
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
1259.624204441463,
|
| 305 |
+
242.53419802202404,
|
| 306 |
+
2.555729248848394
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": 3.141592653589793
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
1256.624204441463,
|
| 318 |
+
242.53419802202404,
|
| 319 |
+
2.555729248848394
|
| 320 |
+
],
|
| 321 |
+
"type": "go straight",
|
| 322 |
+
"value": 3,
|
| 323 |
+
"yaw": 3.141592653589793
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"action": {
|
| 328 |
+
"imageid": 25,
|
| 329 |
+
"pos": [
|
| 330 |
+
1253.624204441463,
|
| 331 |
+
242.53419802202404,
|
| 332 |
+
2.555729248848394
|
| 333 |
+
],
|
| 334 |
+
"type": "go straight",
|
| 335 |
+
"value": 3,
|
| 336 |
+
"yaw": 3.141592653589793
|
| 337 |
+
}
|
| 338 |
+
}
|
| 339 |
+
{
|
| 340 |
+
"action": {
|
| 341 |
+
"imageid": 26,
|
| 342 |
+
"pos": [
|
| 343 |
+
1250.624204441463,
|
| 344 |
+
242.53419802202404,
|
| 345 |
+
2.555729248848394
|
| 346 |
+
],
|
| 347 |
+
"type": "go straight",
|
| 348 |
+
"value": 3,
|
| 349 |
+
"yaw": 3.141592653589793
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
{
|
| 353 |
+
"action": {
|
| 354 |
+
"imageid": 27,
|
| 355 |
+
"pos": [
|
| 356 |
+
1247.624204441463,
|
| 357 |
+
242.53419802202404,
|
| 358 |
+
2.555729248848394
|
| 359 |
+
],
|
| 360 |
+
"type": "go straight",
|
| 361 |
+
"value": 3,
|
| 362 |
+
"yaw": 3.141592653589793
|
| 363 |
+
}
|
| 364 |
+
}
|
| 365 |
+
{
|
| 366 |
+
"aim_landmark": {
|
| 367 |
+
"color": "test",
|
| 368 |
+
"feature": "test",
|
| 369 |
+
"position": [
|
| 370 |
+
1243.735294342041,
|
| 371 |
+
241.00056648254397,
|
| 372 |
+
0.0
|
| 373 |
+
],
|
| 374 |
+
"shape": "test",
|
| 375 |
+
"size": "test",
|
| 376 |
+
"type": "building"
|
| 377 |
+
}
|
| 378 |
+
}
|
| 379 |
+
{
|
| 380 |
+
"action": {
|
| 381 |
+
"imageid": 29,
|
| 382 |
+
"pos": [
|
| 383 |
+
1244.624204441463,
|
| 384 |
+
242.53419802202404,
|
| 385 |
+
2.555729248848394
|
| 386 |
+
],
|
| 387 |
+
"type": "turn right",
|
| 388 |
+
"value": 30,
|
| 389 |
+
"yaw": 3.141592653589793
|
| 390 |
+
}
|
| 391 |
+
}
|
| 392 |
+
{
|
| 393 |
+
"action": {
|
| 394 |
+
"imageid": 30,
|
| 395 |
+
"pos": [
|
| 396 |
+
1244.624204441463,
|
| 397 |
+
242.53419802202404,
|
| 398 |
+
2.555729248848394
|
| 399 |
+
],
|
| 400 |
+
"type": "turn right",
|
| 401 |
+
"value": 30,
|
| 402 |
+
"yaw": 2.6179938779914944
|
| 403 |
+
}
|
| 404 |
+
}
|
| 405 |
+
{
|
| 406 |
+
"action": {
|
| 407 |
+
"imageid": 31,
|
| 408 |
+
"pos": [
|
| 409 |
+
1244.624204441463,
|
| 410 |
+
242.53419802202404,
|
| 411 |
+
2.555729248848394
|
| 412 |
+
],
|
| 413 |
+
"type": "turn right",
|
| 414 |
+
"value": 30,
|
| 415 |
+
"yaw": 2.0943951023931957
|
| 416 |
+
}
|
| 417 |
+
}
|
| 418 |
+
{
|
| 419 |
+
"action": {
|
| 420 |
+
"imageid": 32,
|
| 421 |
+
"pos": [
|
| 422 |
+
1244.624204441463,
|
| 423 |
+
242.53419802202404,
|
| 424 |
+
2.555729248848394
|
| 425 |
+
],
|
| 426 |
+
"type": "go straight",
|
| 427 |
+
"value": 3,
|
| 428 |
+
"yaw": -1.0471975511965979
|
| 429 |
+
}
|
| 430 |
+
}
|
| 431 |
+
{
|
| 432 |
+
"action": {
|
| 433 |
+
"imageid": 33,
|
| 434 |
+
"pos": [
|
| 435 |
+
1246.124204441463,
|
| 436 |
+
239.93612181067073,
|
| 437 |
+
2.555729248848394
|
| 438 |
+
],
|
| 439 |
+
"type": "go straight",
|
| 440 |
+
"value": 3,
|
| 441 |
+
"yaw": -1.0471975511965979
|
| 442 |
+
}
|
| 443 |
+
}
|
| 444 |
+
{
|
| 445 |
+
"action": {
|
| 446 |
+
"imageid": 34,
|
| 447 |
+
"pos": [
|
| 448 |
+
1247.624204441463,
|
| 449 |
+
237.3380455993174,
|
| 450 |
+
2.555729248848394
|
| 451 |
+
],
|
| 452 |
+
"type": "go straight",
|
| 453 |
+
"value": 3,
|
| 454 |
+
"yaw": -1.0471975511965979
|
| 455 |
+
}
|
| 456 |
+
}
|
| 457 |
+
{
|
| 458 |
+
"action": {
|
| 459 |
+
"imageid": 35,
|
| 460 |
+
"pos": [
|
| 461 |
+
1249.124204441463,
|
| 462 |
+
234.7399693879641,
|
| 463 |
+
2.555729248848394
|
| 464 |
+
],
|
| 465 |
+
"type": "go straight",
|
| 466 |
+
"value": 3,
|
| 467 |
+
"yaw": -1.0471975511965979
|
| 468 |
+
}
|
| 469 |
+
}
|
| 470 |
+
{
|
| 471 |
+
"action": {
|
| 472 |
+
"imageid": 36,
|
| 473 |
+
"pos": [
|
| 474 |
+
1250.624204441463,
|
| 475 |
+
232.14189317661078,
|
| 476 |
+
2.555729248848394
|
| 477 |
+
],
|
| 478 |
+
"type": "go straight",
|
| 479 |
+
"value": 3,
|
| 480 |
+
"yaw": -1.0471975511965979
|
| 481 |
+
}
|
| 482 |
+
}
|
| 483 |
+
{
|
| 484 |
+
"action": {
|
| 485 |
+
"imageid": 37,
|
| 486 |
+
"pos": [
|
| 487 |
+
1252.124204441463,
|
| 488 |
+
229.54381696525746,
|
| 489 |
+
2.555729248848394
|
| 490 |
+
],
|
| 491 |
+
"type": "go straight",
|
| 492 |
+
"value": 3,
|
| 493 |
+
"yaw": -1.0471975511965979
|
| 494 |
+
}
|
| 495 |
+
}
|
| 496 |
+
{
|
| 497 |
+
"action": {
|
| 498 |
+
"imageid": 38,
|
| 499 |
+
"pos": [
|
| 500 |
+
1253.624204441463,
|
| 501 |
+
226.94574075390415,
|
| 502 |
+
2.555729248848394
|
| 503 |
+
],
|
| 504 |
+
"type": "go straight",
|
| 505 |
+
"value": 3,
|
| 506 |
+
"yaw": -1.0471975511965979
|
| 507 |
+
}
|
| 508 |
+
}
|
| 509 |
+
{
|
| 510 |
+
"action": {
|
| 511 |
+
"imageid": 39,
|
| 512 |
+
"pos": [
|
| 513 |
+
1255.124204441463,
|
| 514 |
+
224.34766454255083,
|
| 515 |
+
2.555729248848394
|
| 516 |
+
],
|
| 517 |
+
"type": "go straight",
|
| 518 |
+
"value": 3,
|
| 519 |
+
"yaw": -1.0471975511965979
|
| 520 |
+
}
|
| 521 |
+
}
|
| 522 |
+
{
|
| 523 |
+
"action": {
|
| 524 |
+
"imageid": 40,
|
| 525 |
+
"pos": [
|
| 526 |
+
1256.624204441463,
|
| 527 |
+
221.74958833119751,
|
| 528 |
+
2.555729248848394
|
| 529 |
+
],
|
| 530 |
+
"type": "go straight",
|
| 531 |
+
"value": 3,
|
| 532 |
+
"yaw": -1.0471975511965979
|
| 533 |
+
}
|
| 534 |
+
}
|
| 535 |
+
{
|
| 536 |
+
"action": {
|
| 537 |
+
"imageid": 41,
|
| 538 |
+
"pos": [
|
| 539 |
+
1258.124204441463,
|
| 540 |
+
219.1515121198442,
|
| 541 |
+
2.555729248848394
|
| 542 |
+
],
|
| 543 |
+
"type": "go straight",
|
| 544 |
+
"value": 3,
|
| 545 |
+
"yaw": -1.0471975511965979
|
| 546 |
+
}
|
| 547 |
+
}
|
| 548 |
+
{
|
| 549 |
+
"action": {
|
| 550 |
+
"imageid": 42,
|
| 551 |
+
"pos": [
|
| 552 |
+
1259.624204441463,
|
| 553 |
+
216.55343590849088,
|
| 554 |
+
2.555729248848394
|
| 555 |
+
],
|
| 556 |
+
"type": "go straight",
|
| 557 |
+
"value": 3,
|
| 558 |
+
"yaw": -1.0471975511965979
|
| 559 |
+
}
|
| 560 |
+
}
|
| 561 |
+
{
|
| 562 |
+
"action": {
|
| 563 |
+
"imageid": 43,
|
| 564 |
+
"pos": [
|
| 565 |
+
1261.124204441463,
|
| 566 |
+
213.95535969713757,
|
| 567 |
+
2.555729248848394
|
| 568 |
+
],
|
| 569 |
+
"type": "go straight",
|
| 570 |
+
"value": 3,
|
| 571 |
+
"yaw": -1.0471975511965979
|
| 572 |
+
}
|
| 573 |
+
}
|
| 574 |
+
{
|
| 575 |
+
"action": {
|
| 576 |
+
"imageid": 44,
|
| 577 |
+
"pos": [
|
| 578 |
+
1262.624204441463,
|
| 579 |
+
211.35728348578425,
|
| 580 |
+
2.555729248848394
|
| 581 |
+
],
|
| 582 |
+
"type": "go straight",
|
| 583 |
+
"value": 3,
|
| 584 |
+
"yaw": -1.0471975511965979
|
| 585 |
+
}
|
| 586 |
+
}
|
| 587 |
+
{
|
| 588 |
+
"action": {
|
| 589 |
+
"imageid": 45,
|
| 590 |
+
"pos": [
|
| 591 |
+
1264.124204441463,
|
| 592 |
+
208.75920727443093,
|
| 593 |
+
2.555729248848394
|
| 594 |
+
],
|
| 595 |
+
"type": "go straight",
|
| 596 |
+
"value": 3,
|
| 597 |
+
"yaw": -1.0471975511965979
|
| 598 |
+
}
|
| 599 |
+
}
|
| 600 |
+
{
|
| 601 |
+
"action": {
|
| 602 |
+
"imageid": 46,
|
| 603 |
+
"pos": [
|
| 604 |
+
1265.624204441463,
|
| 605 |
+
206.16113106307762,
|
| 606 |
+
2.555729248848394
|
| 607 |
+
],
|
| 608 |
+
"type": "go straight",
|
| 609 |
+
"value": 3,
|
| 610 |
+
"yaw": -1.0471975511965979
|
| 611 |
+
}
|
| 612 |
+
}
|
| 613 |
+
{
|
| 614 |
+
"action": {
|
| 615 |
+
"imageid": 47,
|
| 616 |
+
"pos": [
|
| 617 |
+
1267.124204441463,
|
| 618 |
+
203.5630548517243,
|
| 619 |
+
2.555729248848394
|
| 620 |
+
],
|
| 621 |
+
"type": "go straight",
|
| 622 |
+
"value": 3,
|
| 623 |
+
"yaw": -1.0471975511965979
|
| 624 |
+
}
|
| 625 |
+
}
|
| 626 |
+
{
|
| 627 |
+
"action": {
|
| 628 |
+
"imageid": 48,
|
| 629 |
+
"pos": [
|
| 630 |
+
1268.624204441463,
|
| 631 |
+
200.964978640371,
|
| 632 |
+
2.555729248848394
|
| 633 |
+
],
|
| 634 |
+
"type": "go straight",
|
| 635 |
+
"value": 3,
|
| 636 |
+
"yaw": -1.0471975511965979
|
| 637 |
+
}
|
| 638 |
+
}
|
| 639 |
+
{
|
| 640 |
+
"action": {
|
| 641 |
+
"imageid": 49,
|
| 642 |
+
"pos": [
|
| 643 |
+
1270.124204441463,
|
| 644 |
+
198.36690242901767,
|
| 645 |
+
2.555729248848394
|
| 646 |
+
],
|
| 647 |
+
"type": "turn right",
|
| 648 |
+
"value": 30,
|
| 649 |
+
"yaw": -1.0471975511965979
|
| 650 |
+
}
|
| 651 |
+
}
|
| 652 |
+
{
|
| 653 |
+
"action": {
|
| 654 |
+
"imageid": 50,
|
| 655 |
+
"pos": [
|
| 656 |
+
1270.124204441463,
|
| 657 |
+
198.36690242901767,
|
| 658 |
+
2.555729248848394
|
| 659 |
+
],
|
| 660 |
+
"type": "go straight",
|
| 661 |
+
"value": 3,
|
| 662 |
+
"yaw": -1.5707963267948966
|
| 663 |
+
}
|
| 664 |
+
}
|
| 665 |
+
{
|
| 666 |
+
"action": {
|
| 667 |
+
"imageid": 51,
|
| 668 |
+
"pos": [
|
| 669 |
+
1270.124204441463,
|
| 670 |
+
195.36690242901767,
|
| 671 |
+
2.555729248848394
|
| 672 |
+
],
|
| 673 |
+
"type": "go straight",
|
| 674 |
+
"value": 3,
|
| 675 |
+
"yaw": -1.5707963267948966
|
| 676 |
+
}
|
| 677 |
+
}
|
| 678 |
+
{
|
| 679 |
+
"action": {
|
| 680 |
+
"imageid": 52,
|
| 681 |
+
"pos": [
|
| 682 |
+
1270.124204441463,
|
| 683 |
+
192.36690242901767,
|
| 684 |
+
2.555729248848394
|
| 685 |
+
],
|
| 686 |
+
"type": "go straight",
|
| 687 |
+
"value": 3,
|
| 688 |
+
"yaw": -1.5707963267948966
|
| 689 |
+
}
|
| 690 |
+
}
|
| 691 |
+
{
|
| 692 |
+
"action": {
|
| 693 |
+
"imageid": 53,
|
| 694 |
+
"pos": [
|
| 695 |
+
1270.124204441463,
|
| 696 |
+
189.36690242901767,
|
| 697 |
+
2.555729248848394
|
| 698 |
+
],
|
| 699 |
+
"type": "go straight",
|
| 700 |
+
"value": 3,
|
| 701 |
+
"yaw": -1.5707963267948966
|
| 702 |
+
}
|
| 703 |
+
}
|
| 704 |
+
{
|
| 705 |
+
"action": {
|
| 706 |
+
"imageid": 54,
|
| 707 |
+
"pos": [
|
| 708 |
+
1270.124204441463,
|
| 709 |
+
186.36690242901767,
|
| 710 |
+
2.555729248848394
|
| 711 |
+
],
|
| 712 |
+
"type": "go straight",
|
| 713 |
+
"value": 3,
|
| 714 |
+
"yaw": -1.5707963267948966
|
| 715 |
+
}
|
| 716 |
+
}
|
| 717 |
+
{
|
| 718 |
+
"action": {
|
| 719 |
+
"imageid": 55,
|
| 720 |
+
"pos": [
|
| 721 |
+
1270.124204441463,
|
| 722 |
+
183.36690242901767,
|
| 723 |
+
2.555729248848394
|
| 724 |
+
],
|
| 725 |
+
"type": "go straight",
|
| 726 |
+
"value": 3,
|
| 727 |
+
"yaw": -1.5707963267948966
|
| 728 |
+
}
|
| 729 |
+
}
|
| 730 |
+
{
|
| 731 |
+
"action": {
|
| 732 |
+
"imageid": 56,
|
| 733 |
+
"pos": [
|
| 734 |
+
1270.124204441463,
|
| 735 |
+
180.36690242901767,
|
| 736 |
+
2.555729248848394
|
| 737 |
+
],
|
| 738 |
+
"type": "go straight",
|
| 739 |
+
"value": 3,
|
| 740 |
+
"yaw": -1.5707963267948966
|
| 741 |
+
}
|
| 742 |
+
}
|
| 743 |
+
{
|
| 744 |
+
"action": {
|
| 745 |
+
"imageid": 57,
|
| 746 |
+
"pos": [
|
| 747 |
+
1270.124204441463,
|
| 748 |
+
177.36690242901767,
|
| 749 |
+
2.555729248848394
|
| 750 |
+
],
|
| 751 |
+
"type": "stop",
|
| 752 |
+
"value": 0,
|
| 753 |
+
"yaw": -1.5707963267948966
|
| 754 |
+
}
|
| 755 |
+
}
|
| 756 |
+
{
|
| 757 |
+
"aim_landmark": {
|
| 758 |
+
"color": "test",
|
| 759 |
+
"feature": "test",
|
| 760 |
+
"position": [
|
| 761 |
+
1269.6296508789064,
|
| 762 |
+
175.0053077697754,
|
| 763 |
+
0.0
|
| 764 |
+
],
|
| 765 |
+
"shape": "test",
|
| 766 |
+
"size": "test",
|
| 767 |
+
"type": "building"
|
| 768 |
+
}
|
| 769 |
+
}
|
Image/env_gs_nwpu02/astar_data/long/2025-1-16_14-37-26_1101513929/pose.jsonl
ADDED
|
@@ -0,0 +1,639 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
211.00037321954287,
|
| 6 |
+
185.53791014947703,
|
| 7 |
+
-2.726344898394413
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -0.5235987755982988
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
213.59844943089618,
|
| 19 |
+
184.03791014947703,
|
| 20 |
+
-2.726344898394413
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -0.5235987755982988
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
216.1965256422495,
|
| 32 |
+
182.53791014947703,
|
| 33 |
+
-2.726344898394413
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -0.5235987755982988
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
218.7946018536028,
|
| 45 |
+
181.03791014947703,
|
| 46 |
+
-2.726344898394413
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -0.5235987755982988
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
221.39267806495613,
|
| 58 |
+
179.53791014947703,
|
| 59 |
+
-2.726344898394413
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -0.5235987755982988
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
223.99075427630945,
|
| 71 |
+
178.03791014947703,
|
| 72 |
+
-2.726344898394413
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -0.5235987755982988
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
226.58883048766276,
|
| 84 |
+
176.53791014947703,
|
| 85 |
+
-2.726344898394413
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -0.5235987755982988
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
229.18690669901608,
|
| 97 |
+
175.03791014947703,
|
| 98 |
+
-2.726344898394413
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -0.5235987755982988
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
231.7849829103694,
|
| 110 |
+
173.53791014947703,
|
| 111 |
+
-2.726344898394413
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -0.5235987755982988
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
234.3830591217227,
|
| 123 |
+
172.03791014947703,
|
| 124 |
+
-2.726344898394413
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -0.5235987755982988
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
236.98113533307603,
|
| 136 |
+
170.53791014947703,
|
| 137 |
+
-2.726344898394413
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -0.5235987755982988
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
239.57921154442934,
|
| 149 |
+
169.03791014947703,
|
| 150 |
+
-2.726344898394413
|
| 151 |
+
],
|
| 152 |
+
"type": "turn right",
|
| 153 |
+
"value": 30,
|
| 154 |
+
"yaw": -0.5235987755982988
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
239.57921154442934,
|
| 162 |
+
169.03791014947703,
|
| 163 |
+
-2.726344898394413
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -1.0471975511965976
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
241.07921154442934,
|
| 175 |
+
166.4398339381237,
|
| 176 |
+
-2.726344898394413
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -1.0471975511965979
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
242.57921154442934,
|
| 188 |
+
163.8417577267704,
|
| 189 |
+
-2.726344898394413
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -1.0471975511965979
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
244.07921154442934,
|
| 201 |
+
161.24368151541708,
|
| 202 |
+
-2.726344898394413
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -1.0471975511965979
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
245.57921154442934,
|
| 214 |
+
158.64560530406376,
|
| 215 |
+
-2.726344898394413
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -1.0471975511965979
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
247.07921154442934,
|
| 227 |
+
156.04752909271045,
|
| 228 |
+
-2.726344898394413
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": -1.0471975511965979
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
248.57921154442934,
|
| 240 |
+
153.44945288135713,
|
| 241 |
+
-2.726344898394413
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": -1.0471975511965979
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
250.07921154442934,
|
| 253 |
+
150.85137667000382,
|
| 254 |
+
-2.726344898394413
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": -1.0471975511965979
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
251.57921154442934,
|
| 266 |
+
148.2533004586505,
|
| 267 |
+
-2.726344898394413
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": -1.0471975511965979
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
253.07921154442934,
|
| 279 |
+
145.65522424729718,
|
| 280 |
+
-2.726344898394413
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": -1.0471975511965979
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"aim_landmark": {
|
| 289 |
+
"color": "test",
|
| 290 |
+
"feature": "test",
|
| 291 |
+
"position": [
|
| 292 |
+
258.26647663116455,
|
| 293 |
+
142.7095600128174,
|
| 294 |
+
0.0
|
| 295 |
+
],
|
| 296 |
+
"shape": "test",
|
| 297 |
+
"size": "test",
|
| 298 |
+
"type": "building"
|
| 299 |
+
}
|
| 300 |
+
}
|
| 301 |
+
{
|
| 302 |
+
"action": {
|
| 303 |
+
"imageid": 23,
|
| 304 |
+
"pos": [
|
| 305 |
+
254.57921154442934,
|
| 306 |
+
143.05714803594387,
|
| 307 |
+
-2.726344898394413
|
| 308 |
+
],
|
| 309 |
+
"type": "turn left",
|
| 310 |
+
"value": 30,
|
| 311 |
+
"yaw": -1.0471975511965979
|
| 312 |
+
}
|
| 313 |
+
}
|
| 314 |
+
{
|
| 315 |
+
"action": {
|
| 316 |
+
"imageid": 24,
|
| 317 |
+
"pos": [
|
| 318 |
+
254.57921154442934,
|
| 319 |
+
143.05714803594387,
|
| 320 |
+
-2.726344898394413
|
| 321 |
+
],
|
| 322 |
+
"type": "turn left",
|
| 323 |
+
"value": 30,
|
| 324 |
+
"yaw": -0.523598775598299
|
| 325 |
+
}
|
| 326 |
+
}
|
| 327 |
+
{
|
| 328 |
+
"action": {
|
| 329 |
+
"imageid": 25,
|
| 330 |
+
"pos": [
|
| 331 |
+
254.57921154442934,
|
| 332 |
+
143.05714803594387,
|
| 333 |
+
-2.726344898394413
|
| 334 |
+
],
|
| 335 |
+
"type": "turn left",
|
| 336 |
+
"value": 30,
|
| 337 |
+
"yaw": -2.220446049250313e-16
|
| 338 |
+
}
|
| 339 |
+
}
|
| 340 |
+
{
|
| 341 |
+
"action": {
|
| 342 |
+
"imageid": 26,
|
| 343 |
+
"pos": [
|
| 344 |
+
254.57921154442934,
|
| 345 |
+
143.05714803594387,
|
| 346 |
+
-2.726344898394413
|
| 347 |
+
],
|
| 348 |
+
"type": "turn left",
|
| 349 |
+
"value": 30,
|
| 350 |
+
"yaw": 0.5235987755982987
|
| 351 |
+
}
|
| 352 |
+
}
|
| 353 |
+
{
|
| 354 |
+
"action": {
|
| 355 |
+
"imageid": 27,
|
| 356 |
+
"pos": [
|
| 357 |
+
254.57921154442934,
|
| 358 |
+
143.05714803594387,
|
| 359 |
+
-2.726344898394413
|
| 360 |
+
],
|
| 361 |
+
"type": "turn left",
|
| 362 |
+
"value": 30,
|
| 363 |
+
"yaw": 1.0471975511965974
|
| 364 |
+
}
|
| 365 |
+
}
|
| 366 |
+
{
|
| 367 |
+
"action": {
|
| 368 |
+
"imageid": 28,
|
| 369 |
+
"pos": [
|
| 370 |
+
254.57921154442934,
|
| 371 |
+
143.05714803594387,
|
| 372 |
+
-2.726344898394413
|
| 373 |
+
],
|
| 374 |
+
"type": "turn left",
|
| 375 |
+
"value": 30,
|
| 376 |
+
"yaw": 1.5707963267948961
|
| 377 |
+
}
|
| 378 |
+
}
|
| 379 |
+
{
|
| 380 |
+
"action": {
|
| 381 |
+
"imageid": 29,
|
| 382 |
+
"pos": [
|
| 383 |
+
254.57921154442934,
|
| 384 |
+
143.05714803594387,
|
| 385 |
+
-2.726344898394413
|
| 386 |
+
],
|
| 387 |
+
"type": "go straight",
|
| 388 |
+
"value": 3,
|
| 389 |
+
"yaw": 1.5707963267948966
|
| 390 |
+
}
|
| 391 |
+
}
|
| 392 |
+
{
|
| 393 |
+
"action": {
|
| 394 |
+
"imageid": 30,
|
| 395 |
+
"pos": [
|
| 396 |
+
254.57921154442934,
|
| 397 |
+
146.05714803594387,
|
| 398 |
+
-2.726344898394413
|
| 399 |
+
],
|
| 400 |
+
"type": "go straight",
|
| 401 |
+
"value": 3,
|
| 402 |
+
"yaw": 1.5707963267948966
|
| 403 |
+
}
|
| 404 |
+
}
|
| 405 |
+
{
|
| 406 |
+
"action": {
|
| 407 |
+
"imageid": 31,
|
| 408 |
+
"pos": [
|
| 409 |
+
254.57921154442934,
|
| 410 |
+
149.05714803594387,
|
| 411 |
+
-2.726344898394413
|
| 412 |
+
],
|
| 413 |
+
"type": "go straight",
|
| 414 |
+
"value": 3,
|
| 415 |
+
"yaw": 1.5707963267948966
|
| 416 |
+
}
|
| 417 |
+
}
|
| 418 |
+
{
|
| 419 |
+
"action": {
|
| 420 |
+
"imageid": 32,
|
| 421 |
+
"pos": [
|
| 422 |
+
254.57921154442934,
|
| 423 |
+
152.05714803594387,
|
| 424 |
+
-2.726344898394413
|
| 425 |
+
],
|
| 426 |
+
"type": "go straight",
|
| 427 |
+
"value": 3,
|
| 428 |
+
"yaw": 1.5707963267948966
|
| 429 |
+
}
|
| 430 |
+
}
|
| 431 |
+
{
|
| 432 |
+
"action": {
|
| 433 |
+
"imageid": 33,
|
| 434 |
+
"pos": [
|
| 435 |
+
254.57921154442934,
|
| 436 |
+
155.05714803594387,
|
| 437 |
+
-2.726344898394413
|
| 438 |
+
],
|
| 439 |
+
"type": "go straight",
|
| 440 |
+
"value": 3,
|
| 441 |
+
"yaw": 1.5707963267948966
|
| 442 |
+
}
|
| 443 |
+
}
|
| 444 |
+
{
|
| 445 |
+
"action": {
|
| 446 |
+
"imageid": 34,
|
| 447 |
+
"pos": [
|
| 448 |
+
254.57921154442934,
|
| 449 |
+
158.05714803594387,
|
| 450 |
+
-2.726344898394413
|
| 451 |
+
],
|
| 452 |
+
"type": "go straight",
|
| 453 |
+
"value": 3,
|
| 454 |
+
"yaw": 1.5707963267948966
|
| 455 |
+
}
|
| 456 |
+
}
|
| 457 |
+
{
|
| 458 |
+
"action": {
|
| 459 |
+
"imageid": 35,
|
| 460 |
+
"pos": [
|
| 461 |
+
254.57921154442934,
|
| 462 |
+
161.05714803594387,
|
| 463 |
+
-2.726344898394413
|
| 464 |
+
],
|
| 465 |
+
"type": "go straight",
|
| 466 |
+
"value": 3,
|
| 467 |
+
"yaw": 1.5707963267948966
|
| 468 |
+
}
|
| 469 |
+
}
|
| 470 |
+
{
|
| 471 |
+
"action": {
|
| 472 |
+
"imageid": 36,
|
| 473 |
+
"pos": [
|
| 474 |
+
254.57921154442934,
|
| 475 |
+
164.05714803594387,
|
| 476 |
+
-2.726344898394413
|
| 477 |
+
],
|
| 478 |
+
"type": "go straight",
|
| 479 |
+
"value": 3,
|
| 480 |
+
"yaw": 1.5707963267948966
|
| 481 |
+
}
|
| 482 |
+
}
|
| 483 |
+
{
|
| 484 |
+
"action": {
|
| 485 |
+
"imageid": 37,
|
| 486 |
+
"pos": [
|
| 487 |
+
254.57921154442934,
|
| 488 |
+
167.05714803594387,
|
| 489 |
+
-2.726344898394413
|
| 490 |
+
],
|
| 491 |
+
"type": "go straight",
|
| 492 |
+
"value": 3,
|
| 493 |
+
"yaw": 1.5707963267948966
|
| 494 |
+
}
|
| 495 |
+
}
|
| 496 |
+
{
|
| 497 |
+
"action": {
|
| 498 |
+
"imageid": 38,
|
| 499 |
+
"pos": [
|
| 500 |
+
254.57921154442934,
|
| 501 |
+
170.05714803594387,
|
| 502 |
+
-2.726344898394413
|
| 503 |
+
],
|
| 504 |
+
"type": "turn left",
|
| 505 |
+
"value": 30,
|
| 506 |
+
"yaw": 1.5707963267948966
|
| 507 |
+
}
|
| 508 |
+
}
|
| 509 |
+
{
|
| 510 |
+
"action": {
|
| 511 |
+
"imageid": 39,
|
| 512 |
+
"pos": [
|
| 513 |
+
254.57921154442934,
|
| 514 |
+
170.05714803594387,
|
| 515 |
+
-2.726344898394413
|
| 516 |
+
],
|
| 517 |
+
"type": "go straight",
|
| 518 |
+
"value": 3,
|
| 519 |
+
"yaw": 2.0943951023931953
|
| 520 |
+
}
|
| 521 |
+
}
|
| 522 |
+
{
|
| 523 |
+
"action": {
|
| 524 |
+
"imageid": 40,
|
| 525 |
+
"pos": [
|
| 526 |
+
253.07921154442934,
|
| 527 |
+
172.65522424729718,
|
| 528 |
+
-2.726344898394413
|
| 529 |
+
],
|
| 530 |
+
"type": "go straight",
|
| 531 |
+
"value": 3,
|
| 532 |
+
"yaw": 2.0943951023931953
|
| 533 |
+
}
|
| 534 |
+
}
|
| 535 |
+
{
|
| 536 |
+
"action": {
|
| 537 |
+
"imageid": 41,
|
| 538 |
+
"pos": [
|
| 539 |
+
251.57921154442934,
|
| 540 |
+
175.2533004586505,
|
| 541 |
+
-2.726344898394413
|
| 542 |
+
],
|
| 543 |
+
"type": "go straight",
|
| 544 |
+
"value": 3,
|
| 545 |
+
"yaw": 2.0943951023931953
|
| 546 |
+
}
|
| 547 |
+
}
|
| 548 |
+
{
|
| 549 |
+
"action": {
|
| 550 |
+
"imageid": 42,
|
| 551 |
+
"pos": [
|
| 552 |
+
250.07921154442934,
|
| 553 |
+
177.85137667000382,
|
| 554 |
+
-2.726344898394413
|
| 555 |
+
],
|
| 556 |
+
"type": "go straight",
|
| 557 |
+
"value": 3,
|
| 558 |
+
"yaw": 2.0943951023931953
|
| 559 |
+
}
|
| 560 |
+
}
|
| 561 |
+
{
|
| 562 |
+
"action": {
|
| 563 |
+
"imageid": 43,
|
| 564 |
+
"pos": [
|
| 565 |
+
248.57921154442934,
|
| 566 |
+
180.44945288135713,
|
| 567 |
+
-2.726344898394413
|
| 568 |
+
],
|
| 569 |
+
"type": "go straight",
|
| 570 |
+
"value": 3,
|
| 571 |
+
"yaw": 2.0943951023931953
|
| 572 |
+
}
|
| 573 |
+
}
|
| 574 |
+
{
|
| 575 |
+
"action": {
|
| 576 |
+
"imageid": 44,
|
| 577 |
+
"pos": [
|
| 578 |
+
247.07921154442934,
|
| 579 |
+
183.04752909271045,
|
| 580 |
+
-2.726344898394413
|
| 581 |
+
],
|
| 582 |
+
"type": "go straight",
|
| 583 |
+
"value": 3,
|
| 584 |
+
"yaw": 2.0943951023931953
|
| 585 |
+
}
|
| 586 |
+
}
|
| 587 |
+
{
|
| 588 |
+
"action": {
|
| 589 |
+
"imageid": 45,
|
| 590 |
+
"pos": [
|
| 591 |
+
245.57921154442934,
|
| 592 |
+
185.64560530406376,
|
| 593 |
+
-2.726344898394413
|
| 594 |
+
],
|
| 595 |
+
"type": "go straight",
|
| 596 |
+
"value": 3,
|
| 597 |
+
"yaw": 2.0943951023931953
|
| 598 |
+
}
|
| 599 |
+
}
|
| 600 |
+
{
|
| 601 |
+
"action": {
|
| 602 |
+
"imageid": 46,
|
| 603 |
+
"pos": [
|
| 604 |
+
244.07921154442934,
|
| 605 |
+
188.24368151541708,
|
| 606 |
+
-2.726344898394413
|
| 607 |
+
],
|
| 608 |
+
"type": "go straight",
|
| 609 |
+
"value": 3,
|
| 610 |
+
"yaw": 2.0943951023931953
|
| 611 |
+
}
|
| 612 |
+
}
|
| 613 |
+
{
|
| 614 |
+
"action": {
|
| 615 |
+
"imageid": 47,
|
| 616 |
+
"pos": [
|
| 617 |
+
242.57921154442934,
|
| 618 |
+
190.8417577267704,
|
| 619 |
+
-2.726344898394413
|
| 620 |
+
],
|
| 621 |
+
"type": "stop",
|
| 622 |
+
"value": 0,
|
| 623 |
+
"yaw": 2.0943951023931953
|
| 624 |
+
}
|
| 625 |
+
}
|
| 626 |
+
{
|
| 627 |
+
"aim_landmark": {
|
| 628 |
+
"color": "test",
|
| 629 |
+
"feature": "test",
|
| 630 |
+
"position": [
|
| 631 |
+
243.237640953064,
|
| 632 |
+
194.2933292388916,
|
| 633 |
+
0.0
|
| 634 |
+
],
|
| 635 |
+
"shape": "test",
|
| 636 |
+
"size": "test",
|
| 637 |
+
"type": "building"
|
| 638 |
+
}
|
| 639 |
+
}
|
Image/env_gs_nwpu02/astar_data/long/2025-1-16_14-37-53_1801979802/pose.jsonl
ADDED
|
@@ -0,0 +1,652 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
1292.7548535469216,
|
| 6 |
+
264.8138629686412,
|
| 7 |
+
-1.7166866877006686
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -2.6179938779915037
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
1290.1567773355682,
|
| 19 |
+
263.3138629686412,
|
| 20 |
+
-1.7166866877006686
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -2.6179938779915037
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
1287.5587011242148,
|
| 32 |
+
261.8138629686412,
|
| 33 |
+
-1.7166866877006686
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -2.6179938779915037
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
1284.9606249128615,
|
| 45 |
+
260.3138629686412,
|
| 46 |
+
-1.7166866877006686
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -2.6179938779915037
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
1282.362548701508,
|
| 58 |
+
258.8138629686412,
|
| 59 |
+
-1.7166866877006686
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -2.6179938779915037
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
1279.7644724901547,
|
| 71 |
+
257.3138629686412,
|
| 72 |
+
-1.7166866877006686
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -2.6179938779915037
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
1277.1663962788014,
|
| 84 |
+
255.81386296864122,
|
| 85 |
+
-1.7166866877006686
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -2.6179938779915037
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
1274.568320067448,
|
| 97 |
+
254.31386296864122,
|
| 98 |
+
-1.7166866877006686
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -2.6179938779915037
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
1271.9702438560946,
|
| 110 |
+
252.81386296864122,
|
| 111 |
+
-1.7166866877006686
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -2.6179938779915037
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
1269.3721676447412,
|
| 123 |
+
251.31386296864122,
|
| 124 |
+
-1.7166866877006686
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -2.6179938779915037
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
1266.7740914333879,
|
| 136 |
+
249.81386296864122,
|
| 137 |
+
-1.7166866877006686
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -2.6179938779915037
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
1264.1760152220345,
|
| 149 |
+
248.31386296864122,
|
| 150 |
+
-1.7166866877006686
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -2.6179938779915037
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
1261.5779390106811,
|
| 162 |
+
246.81386296864122,
|
| 163 |
+
-1.7166866877006686
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -2.6179938779915037
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
1258.9798627993277,
|
| 175 |
+
245.31386296864122,
|
| 176 |
+
-1.7166866877006686
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -2.6179938779915037
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
1256.3817865879744,
|
| 188 |
+
243.81386296864122,
|
| 189 |
+
-1.7166866877006686
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -2.6179938779915037
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
1253.783710376621,
|
| 201 |
+
242.31386296864122,
|
| 202 |
+
-1.7166866877006686
|
| 203 |
+
],
|
| 204 |
+
"type": "turn right",
|
| 205 |
+
"value": 30,
|
| 206 |
+
"yaw": -2.6179938779915037
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
1253.783710376621,
|
| 214 |
+
242.31386296864122,
|
| 215 |
+
-1.7166866877006686
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -3.1415926535898024
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
1250.783710376621,
|
| 227 |
+
242.31386296864122,
|
| 228 |
+
-1.7166866877006686
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 3.141592653589793
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
1247.783710376621,
|
| 240 |
+
242.31386296864122,
|
| 241 |
+
-1.7166866877006686
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 3.141592653589793
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"aim_landmark": {
|
| 250 |
+
"color": "test",
|
| 251 |
+
"feature": "test",
|
| 252 |
+
"position": [
|
| 253 |
+
1243.735294342041,
|
| 254 |
+
241.00056648254397,
|
| 255 |
+
0.0
|
| 256 |
+
],
|
| 257 |
+
"shape": "test",
|
| 258 |
+
"size": "test",
|
| 259 |
+
"type": "building"
|
| 260 |
+
}
|
| 261 |
+
}
|
| 262 |
+
{
|
| 263 |
+
"action": {
|
| 264 |
+
"imageid": 20,
|
| 265 |
+
"pos": [
|
| 266 |
+
1244.783710376621,
|
| 267 |
+
242.31386296864122,
|
| 268 |
+
-1.7166866877006686
|
| 269 |
+
],
|
| 270 |
+
"type": "turn right",
|
| 271 |
+
"value": 30,
|
| 272 |
+
"yaw": 3.141592653589793
|
| 273 |
+
}
|
| 274 |
+
}
|
| 275 |
+
{
|
| 276 |
+
"action": {
|
| 277 |
+
"imageid": 21,
|
| 278 |
+
"pos": [
|
| 279 |
+
1244.783710376621,
|
| 280 |
+
242.31386296864122,
|
| 281 |
+
-1.7166866877006686
|
| 282 |
+
],
|
| 283 |
+
"type": "turn right",
|
| 284 |
+
"value": 30,
|
| 285 |
+
"yaw": 2.6179938779914944
|
| 286 |
+
}
|
| 287 |
+
}
|
| 288 |
+
{
|
| 289 |
+
"action": {
|
| 290 |
+
"imageid": 22,
|
| 291 |
+
"pos": [
|
| 292 |
+
1244.783710376621,
|
| 293 |
+
242.31386296864122,
|
| 294 |
+
-1.7166866877006686
|
| 295 |
+
],
|
| 296 |
+
"type": "turn right",
|
| 297 |
+
"value": 30,
|
| 298 |
+
"yaw": 2.0943951023931957
|
| 299 |
+
}
|
| 300 |
+
}
|
| 301 |
+
{
|
| 302 |
+
"action": {
|
| 303 |
+
"imageid": 23,
|
| 304 |
+
"pos": [
|
| 305 |
+
1244.783710376621,
|
| 306 |
+
242.31386296864122,
|
| 307 |
+
-1.7166866877006686
|
| 308 |
+
],
|
| 309 |
+
"type": "go straight",
|
| 310 |
+
"value": 3,
|
| 311 |
+
"yaw": -1.0471975511965979
|
| 312 |
+
}
|
| 313 |
+
}
|
| 314 |
+
{
|
| 315 |
+
"action": {
|
| 316 |
+
"imageid": 24,
|
| 317 |
+
"pos": [
|
| 318 |
+
1246.283710376621,
|
| 319 |
+
239.7157867572879,
|
| 320 |
+
-1.7166866877006686
|
| 321 |
+
],
|
| 322 |
+
"type": "go straight",
|
| 323 |
+
"value": 3,
|
| 324 |
+
"yaw": -1.0471975511965979
|
| 325 |
+
}
|
| 326 |
+
}
|
| 327 |
+
{
|
| 328 |
+
"action": {
|
| 329 |
+
"imageid": 25,
|
| 330 |
+
"pos": [
|
| 331 |
+
1247.783710376621,
|
| 332 |
+
237.11771054593459,
|
| 333 |
+
-1.7166866877006686
|
| 334 |
+
],
|
| 335 |
+
"type": "go straight",
|
| 336 |
+
"value": 3,
|
| 337 |
+
"yaw": -1.0471975511965979
|
| 338 |
+
}
|
| 339 |
+
}
|
| 340 |
+
{
|
| 341 |
+
"action": {
|
| 342 |
+
"imageid": 26,
|
| 343 |
+
"pos": [
|
| 344 |
+
1249.283710376621,
|
| 345 |
+
234.51963433458127,
|
| 346 |
+
-1.7166866877006686
|
| 347 |
+
],
|
| 348 |
+
"type": "go straight",
|
| 349 |
+
"value": 3,
|
| 350 |
+
"yaw": -1.0471975511965979
|
| 351 |
+
}
|
| 352 |
+
}
|
| 353 |
+
{
|
| 354 |
+
"action": {
|
| 355 |
+
"imageid": 27,
|
| 356 |
+
"pos": [
|
| 357 |
+
1250.783710376621,
|
| 358 |
+
231.92155812322795,
|
| 359 |
+
-1.7166866877006686
|
| 360 |
+
],
|
| 361 |
+
"type": "go straight",
|
| 362 |
+
"value": 3,
|
| 363 |
+
"yaw": -1.0471975511965979
|
| 364 |
+
}
|
| 365 |
+
}
|
| 366 |
+
{
|
| 367 |
+
"action": {
|
| 368 |
+
"imageid": 28,
|
| 369 |
+
"pos": [
|
| 370 |
+
1252.283710376621,
|
| 371 |
+
229.32348191187464,
|
| 372 |
+
-1.7166866877006686
|
| 373 |
+
],
|
| 374 |
+
"type": "go straight",
|
| 375 |
+
"value": 3,
|
| 376 |
+
"yaw": -1.0471975511965979
|
| 377 |
+
}
|
| 378 |
+
}
|
| 379 |
+
{
|
| 380 |
+
"action": {
|
| 381 |
+
"imageid": 29,
|
| 382 |
+
"pos": [
|
| 383 |
+
1253.783710376621,
|
| 384 |
+
226.72540570052132,
|
| 385 |
+
-1.7166866877006686
|
| 386 |
+
],
|
| 387 |
+
"type": "go straight",
|
| 388 |
+
"value": 3,
|
| 389 |
+
"yaw": -1.0471975511965979
|
| 390 |
+
}
|
| 391 |
+
}
|
| 392 |
+
{
|
| 393 |
+
"action": {
|
| 394 |
+
"imageid": 30,
|
| 395 |
+
"pos": [
|
| 396 |
+
1255.283710376621,
|
| 397 |
+
224.127329489168,
|
| 398 |
+
-1.7166866877006686
|
| 399 |
+
],
|
| 400 |
+
"type": "go straight",
|
| 401 |
+
"value": 3,
|
| 402 |
+
"yaw": -1.0471975511965979
|
| 403 |
+
}
|
| 404 |
+
}
|
| 405 |
+
{
|
| 406 |
+
"action": {
|
| 407 |
+
"imageid": 31,
|
| 408 |
+
"pos": [
|
| 409 |
+
1256.783710376621,
|
| 410 |
+
221.5292532778147,
|
| 411 |
+
-1.7166866877006686
|
| 412 |
+
],
|
| 413 |
+
"type": "go straight",
|
| 414 |
+
"value": 3,
|
| 415 |
+
"yaw": -1.0471975511965979
|
| 416 |
+
}
|
| 417 |
+
}
|
| 418 |
+
{
|
| 419 |
+
"action": {
|
| 420 |
+
"imageid": 32,
|
| 421 |
+
"pos": [
|
| 422 |
+
1258.283710376621,
|
| 423 |
+
218.93117706646137,
|
| 424 |
+
-1.7166866877006686
|
| 425 |
+
],
|
| 426 |
+
"type": "go straight",
|
| 427 |
+
"value": 3,
|
| 428 |
+
"yaw": -1.0471975511965979
|
| 429 |
+
}
|
| 430 |
+
}
|
| 431 |
+
{
|
| 432 |
+
"action": {
|
| 433 |
+
"imageid": 33,
|
| 434 |
+
"pos": [
|
| 435 |
+
1259.783710376621,
|
| 436 |
+
216.33310085510806,
|
| 437 |
+
-1.7166866877006686
|
| 438 |
+
],
|
| 439 |
+
"type": "go straight",
|
| 440 |
+
"value": 3,
|
| 441 |
+
"yaw": -1.0471975511965979
|
| 442 |
+
}
|
| 443 |
+
}
|
| 444 |
+
{
|
| 445 |
+
"action": {
|
| 446 |
+
"imageid": 34,
|
| 447 |
+
"pos": [
|
| 448 |
+
1261.283710376621,
|
| 449 |
+
213.73502464375474,
|
| 450 |
+
-1.7166866877006686
|
| 451 |
+
],
|
| 452 |
+
"type": "go straight",
|
| 453 |
+
"value": 3,
|
| 454 |
+
"yaw": -1.0471975511965979
|
| 455 |
+
}
|
| 456 |
+
}
|
| 457 |
+
{
|
| 458 |
+
"action": {
|
| 459 |
+
"imageid": 35,
|
| 460 |
+
"pos": [
|
| 461 |
+
1262.783710376621,
|
| 462 |
+
211.13694843240143,
|
| 463 |
+
-1.7166866877006686
|
| 464 |
+
],
|
| 465 |
+
"type": "go straight",
|
| 466 |
+
"value": 3,
|
| 467 |
+
"yaw": -1.0471975511965979
|
| 468 |
+
}
|
| 469 |
+
}
|
| 470 |
+
{
|
| 471 |
+
"action": {
|
| 472 |
+
"imageid": 36,
|
| 473 |
+
"pos": [
|
| 474 |
+
1264.283710376621,
|
| 475 |
+
208.5388722210481,
|
| 476 |
+
-1.7166866877006686
|
| 477 |
+
],
|
| 478 |
+
"type": "go straight",
|
| 479 |
+
"value": 3,
|
| 480 |
+
"yaw": -1.0471975511965979
|
| 481 |
+
}
|
| 482 |
+
}
|
| 483 |
+
{
|
| 484 |
+
"action": {
|
| 485 |
+
"imageid": 37,
|
| 486 |
+
"pos": [
|
| 487 |
+
1265.783710376621,
|
| 488 |
+
205.9407960096948,
|
| 489 |
+
-1.7166866877006686
|
| 490 |
+
],
|
| 491 |
+
"type": "go straight",
|
| 492 |
+
"value": 3,
|
| 493 |
+
"yaw": -1.0471975511965979
|
| 494 |
+
}
|
| 495 |
+
}
|
| 496 |
+
{
|
| 497 |
+
"action": {
|
| 498 |
+
"imageid": 38,
|
| 499 |
+
"pos": [
|
| 500 |
+
1267.283710376621,
|
| 501 |
+
203.34271979834148,
|
| 502 |
+
-1.7166866877006686
|
| 503 |
+
],
|
| 504 |
+
"type": "turn right",
|
| 505 |
+
"value": 30,
|
| 506 |
+
"yaw": -1.0471975511965979
|
| 507 |
+
}
|
| 508 |
+
}
|
| 509 |
+
{
|
| 510 |
+
"action": {
|
| 511 |
+
"imageid": 39,
|
| 512 |
+
"pos": [
|
| 513 |
+
1267.283710376621,
|
| 514 |
+
203.34271979834148,
|
| 515 |
+
-1.7166866877006686
|
| 516 |
+
],
|
| 517 |
+
"type": "go straight",
|
| 518 |
+
"value": 3,
|
| 519 |
+
"yaw": -1.5707963267948966
|
| 520 |
+
}
|
| 521 |
+
}
|
| 522 |
+
{
|
| 523 |
+
"action": {
|
| 524 |
+
"imageid": 40,
|
| 525 |
+
"pos": [
|
| 526 |
+
1267.283710376621,
|
| 527 |
+
200.34271979834148,
|
| 528 |
+
-1.7166866877006686
|
| 529 |
+
],
|
| 530 |
+
"type": "go straight",
|
| 531 |
+
"value": 3,
|
| 532 |
+
"yaw": -1.5707963267948966
|
| 533 |
+
}
|
| 534 |
+
}
|
| 535 |
+
{
|
| 536 |
+
"action": {
|
| 537 |
+
"imageid": 41,
|
| 538 |
+
"pos": [
|
| 539 |
+
1267.283710376621,
|
| 540 |
+
197.34271979834148,
|
| 541 |
+
-1.7166866877006686
|
| 542 |
+
],
|
| 543 |
+
"type": "go straight",
|
| 544 |
+
"value": 3,
|
| 545 |
+
"yaw": -1.5707963267948966
|
| 546 |
+
}
|
| 547 |
+
}
|
| 548 |
+
{
|
| 549 |
+
"action": {
|
| 550 |
+
"imageid": 42,
|
| 551 |
+
"pos": [
|
| 552 |
+
1267.283710376621,
|
| 553 |
+
194.34271979834148,
|
| 554 |
+
-1.7166866877006686
|
| 555 |
+
],
|
| 556 |
+
"type": "go straight",
|
| 557 |
+
"value": 3,
|
| 558 |
+
"yaw": -1.5707963267948966
|
| 559 |
+
}
|
| 560 |
+
}
|
| 561 |
+
{
|
| 562 |
+
"action": {
|
| 563 |
+
"imageid": 43,
|
| 564 |
+
"pos": [
|
| 565 |
+
1267.283710376621,
|
| 566 |
+
191.34271979834148,
|
| 567 |
+
-1.7166866877006686
|
| 568 |
+
],
|
| 569 |
+
"type": "go straight",
|
| 570 |
+
"value": 3,
|
| 571 |
+
"yaw": -1.5707963267948966
|
| 572 |
+
}
|
| 573 |
+
}
|
| 574 |
+
{
|
| 575 |
+
"action": {
|
| 576 |
+
"imageid": 44,
|
| 577 |
+
"pos": [
|
| 578 |
+
1267.283710376621,
|
| 579 |
+
188.34271979834148,
|
| 580 |
+
-1.7166866877006686
|
| 581 |
+
],
|
| 582 |
+
"type": "go straight",
|
| 583 |
+
"value": 3,
|
| 584 |
+
"yaw": -1.5707963267948966
|
| 585 |
+
}
|
| 586 |
+
}
|
| 587 |
+
{
|
| 588 |
+
"action": {
|
| 589 |
+
"imageid": 45,
|
| 590 |
+
"pos": [
|
| 591 |
+
1267.283710376621,
|
| 592 |
+
185.34271979834148,
|
| 593 |
+
-1.7166866877006686
|
| 594 |
+
],
|
| 595 |
+
"type": "go straight",
|
| 596 |
+
"value": 3,
|
| 597 |
+
"yaw": -1.5707963267948966
|
| 598 |
+
}
|
| 599 |
+
}
|
| 600 |
+
{
|
| 601 |
+
"action": {
|
| 602 |
+
"imageid": 46,
|
| 603 |
+
"pos": [
|
| 604 |
+
1267.283710376621,
|
| 605 |
+
182.34271979834148,
|
| 606 |
+
-1.7166866877006686
|
| 607 |
+
],
|
| 608 |
+
"type": "go straight",
|
| 609 |
+
"value": 3,
|
| 610 |
+
"yaw": -1.5707963267948966
|
| 611 |
+
}
|
| 612 |
+
}
|
| 613 |
+
{
|
| 614 |
+
"action": {
|
| 615 |
+
"imageid": 47,
|
| 616 |
+
"pos": [
|
| 617 |
+
1267.283710376621,
|
| 618 |
+
179.34271979834148,
|
| 619 |
+
-1.7166866877006686
|
| 620 |
+
],
|
| 621 |
+
"type": "go straight",
|
| 622 |
+
"value": 3,
|
| 623 |
+
"yaw": -1.5707963267948966
|
| 624 |
+
}
|
| 625 |
+
}
|
| 626 |
+
{
|
| 627 |
+
"action": {
|
| 628 |
+
"imageid": 48,
|
| 629 |
+
"pos": [
|
| 630 |
+
1267.283710376621,
|
| 631 |
+
176.34271979834148,
|
| 632 |
+
-1.7166866877006686
|
| 633 |
+
],
|
| 634 |
+
"type": "stop",
|
| 635 |
+
"value": 0,
|
| 636 |
+
"yaw": -1.5707963267948966
|
| 637 |
+
}
|
| 638 |
+
}
|
| 639 |
+
{
|
| 640 |
+
"aim_landmark": {
|
| 641 |
+
"color": "test",
|
| 642 |
+
"feature": "test",
|
| 643 |
+
"position": [
|
| 644 |
+
1269.6296508789064,
|
| 645 |
+
175.0053077697754,
|
| 646 |
+
0.0
|
| 647 |
+
],
|
| 648 |
+
"shape": "test",
|
| 649 |
+
"size": "test",
|
| 650 |
+
"type": "building"
|
| 651 |
+
}
|
| 652 |
+
}
|
Image/env_gs_nwpu02/astar_data/long/2025-1-16_14-4-35_294702567/pose.jsonl
ADDED
|
@@ -0,0 +1,639 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
662.834983767614,
|
| 6 |
+
-8.868835249044999,
|
| 7 |
+
-5.238631939105677
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -1.5707963267948966
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
662.834983767614,
|
| 19 |
+
-11.868835249044999,
|
| 20 |
+
-5.238631939105677
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -1.5707963267948966
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
662.834983767614,
|
| 32 |
+
-14.868835249044999,
|
| 33 |
+
-5.238631939105677
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -1.5707963267948966
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
662.834983767614,
|
| 45 |
+
-17.868835249045,
|
| 46 |
+
-5.238631939105677
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -1.5707963267948966
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
662.834983767614,
|
| 58 |
+
-20.868835249045,
|
| 59 |
+
-5.238631939105677
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -1.5707963267948966
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
662.834983767614,
|
| 71 |
+
-23.868835249045,
|
| 72 |
+
-5.238631939105677
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -1.5707963267948966
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
662.834983767614,
|
| 84 |
+
-26.868835249045,
|
| 85 |
+
-5.238631939105677
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -1.5707963267948966
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
662.834983767614,
|
| 97 |
+
-29.868835249045,
|
| 98 |
+
-5.238631939105677
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -1.5707963267948966
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
662.834983767614,
|
| 110 |
+
-32.868835249045,
|
| 111 |
+
-5.238631939105677
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -1.5707963267948966
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
662.834983767614,
|
| 123 |
+
-35.868835249045,
|
| 124 |
+
-5.238631939105677
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -1.5707963267948966
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
662.834983767614,
|
| 136 |
+
-38.868835249045,
|
| 137 |
+
-5.238631939105677
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -1.5707963267948966
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
662.834983767614,
|
| 149 |
+
-41.868835249045,
|
| 150 |
+
-5.238631939105677
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -1.5707963267948966
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
662.834983767614,
|
| 162 |
+
-44.868835249045,
|
| 163 |
+
-5.238631939105677
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -1.5707963267948966
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
662.834983767614,
|
| 175 |
+
-47.868835249045,
|
| 176 |
+
-5.238631939105677
|
| 177 |
+
],
|
| 178 |
+
"type": "turn left",
|
| 179 |
+
"value": 30,
|
| 180 |
+
"yaw": -1.5707963267948966
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
662.834983767614,
|
| 188 |
+
-47.868835249045,
|
| 189 |
+
-5.238631939105677
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -1.0471975511965979
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
664.334983767614,
|
| 201 |
+
-50.466911460398315,
|
| 202 |
+
-5.238631939105677
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -1.0471975511965979
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"aim_landmark": {
|
| 211 |
+
"color": "test",
|
| 212 |
+
"feature": "test",
|
| 213 |
+
"position": [
|
| 214 |
+
668.9317680358887,
|
| 215 |
+
-69.13963012695314,
|
| 216 |
+
0.0
|
| 217 |
+
],
|
| 218 |
+
"shape": "test",
|
| 219 |
+
"size": "test",
|
| 220 |
+
"type": "building"
|
| 221 |
+
}
|
| 222 |
+
}
|
| 223 |
+
{
|
| 224 |
+
"action": {
|
| 225 |
+
"imageid": 17,
|
| 226 |
+
"pos": [
|
| 227 |
+
665.834983767614,
|
| 228 |
+
-53.06498767175163,
|
| 229 |
+
-5.238631939105677
|
| 230 |
+
],
|
| 231 |
+
"type": "turn left",
|
| 232 |
+
"value": 30,
|
| 233 |
+
"yaw": -1.0471975511965979
|
| 234 |
+
}
|
| 235 |
+
}
|
| 236 |
+
{
|
| 237 |
+
"action": {
|
| 238 |
+
"imageid": 18,
|
| 239 |
+
"pos": [
|
| 240 |
+
665.834983767614,
|
| 241 |
+
-53.06498767175163,
|
| 242 |
+
-5.238631939105677
|
| 243 |
+
],
|
| 244 |
+
"type": "turn left",
|
| 245 |
+
"value": 30,
|
| 246 |
+
"yaw": -0.523598775598299
|
| 247 |
+
}
|
| 248 |
+
}
|
| 249 |
+
{
|
| 250 |
+
"action": {
|
| 251 |
+
"imageid": 19,
|
| 252 |
+
"pos": [
|
| 253 |
+
665.834983767614,
|
| 254 |
+
-53.06498767175163,
|
| 255 |
+
-5.238631939105677
|
| 256 |
+
],
|
| 257 |
+
"type": "turn left",
|
| 258 |
+
"value": 30,
|
| 259 |
+
"yaw": -2.220446049250313e-16
|
| 260 |
+
}
|
| 261 |
+
}
|
| 262 |
+
{
|
| 263 |
+
"action": {
|
| 264 |
+
"imageid": 20,
|
| 265 |
+
"pos": [
|
| 266 |
+
665.834983767614,
|
| 267 |
+
-53.06498767175163,
|
| 268 |
+
-5.238631939105677
|
| 269 |
+
],
|
| 270 |
+
"type": "go straight",
|
| 271 |
+
"value": 3,
|
| 272 |
+
"yaw": 0.0
|
| 273 |
+
}
|
| 274 |
+
}
|
| 275 |
+
{
|
| 276 |
+
"action": {
|
| 277 |
+
"imageid": 21,
|
| 278 |
+
"pos": [
|
| 279 |
+
668.834983767614,
|
| 280 |
+
-53.06498767175163,
|
| 281 |
+
-5.238631939105677
|
| 282 |
+
],
|
| 283 |
+
"type": "go straight",
|
| 284 |
+
"value": 3,
|
| 285 |
+
"yaw": 0.0
|
| 286 |
+
}
|
| 287 |
+
}
|
| 288 |
+
{
|
| 289 |
+
"action": {
|
| 290 |
+
"imageid": 22,
|
| 291 |
+
"pos": [
|
| 292 |
+
671.834983767614,
|
| 293 |
+
-53.06498767175163,
|
| 294 |
+
-5.238631939105677
|
| 295 |
+
],
|
| 296 |
+
"type": "go straight",
|
| 297 |
+
"value": 3,
|
| 298 |
+
"yaw": 0.0
|
| 299 |
+
}
|
| 300 |
+
}
|
| 301 |
+
{
|
| 302 |
+
"action": {
|
| 303 |
+
"imageid": 23,
|
| 304 |
+
"pos": [
|
| 305 |
+
674.834983767614,
|
| 306 |
+
-53.06498767175163,
|
| 307 |
+
-5.238631939105677
|
| 308 |
+
],
|
| 309 |
+
"type": "go straight",
|
| 310 |
+
"value": 3,
|
| 311 |
+
"yaw": 0.0
|
| 312 |
+
}
|
| 313 |
+
}
|
| 314 |
+
{
|
| 315 |
+
"action": {
|
| 316 |
+
"imageid": 24,
|
| 317 |
+
"pos": [
|
| 318 |
+
677.834983767614,
|
| 319 |
+
-53.06498767175163,
|
| 320 |
+
-5.238631939105677
|
| 321 |
+
],
|
| 322 |
+
"type": "turn left",
|
| 323 |
+
"value": 30,
|
| 324 |
+
"yaw": 0.0
|
| 325 |
+
}
|
| 326 |
+
}
|
| 327 |
+
{
|
| 328 |
+
"action": {
|
| 329 |
+
"imageid": 25,
|
| 330 |
+
"pos": [
|
| 331 |
+
677.834983767614,
|
| 332 |
+
-53.06498767175163,
|
| 333 |
+
-5.238631939105677
|
| 334 |
+
],
|
| 335 |
+
"type": "turn left",
|
| 336 |
+
"value": 30,
|
| 337 |
+
"yaw": 0.5235987755982988
|
| 338 |
+
}
|
| 339 |
+
}
|
| 340 |
+
{
|
| 341 |
+
"action": {
|
| 342 |
+
"imageid": 26,
|
| 343 |
+
"pos": [
|
| 344 |
+
677.834983767614,
|
| 345 |
+
-53.06498767175163,
|
| 346 |
+
-5.238631939105677
|
| 347 |
+
],
|
| 348 |
+
"type": "go straight",
|
| 349 |
+
"value": 3,
|
| 350 |
+
"yaw": 1.0471975511965976
|
| 351 |
+
}
|
| 352 |
+
}
|
| 353 |
+
{
|
| 354 |
+
"action": {
|
| 355 |
+
"imageid": 27,
|
| 356 |
+
"pos": [
|
| 357 |
+
679.334983767614,
|
| 358 |
+
-50.466911460398315,
|
| 359 |
+
-5.238631939105677
|
| 360 |
+
],
|
| 361 |
+
"type": "go straight",
|
| 362 |
+
"value": 3,
|
| 363 |
+
"yaw": 1.0471975511965979
|
| 364 |
+
}
|
| 365 |
+
}
|
| 366 |
+
{
|
| 367 |
+
"action": {
|
| 368 |
+
"imageid": 28,
|
| 369 |
+
"pos": [
|
| 370 |
+
680.834983767614,
|
| 371 |
+
-47.868835249045,
|
| 372 |
+
-5.238631939105677
|
| 373 |
+
],
|
| 374 |
+
"type": "go straight",
|
| 375 |
+
"value": 3,
|
| 376 |
+
"yaw": 1.0471975511965979
|
| 377 |
+
}
|
| 378 |
+
}
|
| 379 |
+
{
|
| 380 |
+
"action": {
|
| 381 |
+
"imageid": 29,
|
| 382 |
+
"pos": [
|
| 383 |
+
682.334983767614,
|
| 384 |
+
-45.27075903769168,
|
| 385 |
+
-5.238631939105677
|
| 386 |
+
],
|
| 387 |
+
"type": "turn right",
|
| 388 |
+
"value": 30,
|
| 389 |
+
"yaw": 1.0471975511965979
|
| 390 |
+
}
|
| 391 |
+
}
|
| 392 |
+
{
|
| 393 |
+
"action": {
|
| 394 |
+
"imageid": 30,
|
| 395 |
+
"pos": [
|
| 396 |
+
682.334983767614,
|
| 397 |
+
-45.27075903769168,
|
| 398 |
+
-5.238631939105677
|
| 399 |
+
],
|
| 400 |
+
"type": "go straight",
|
| 401 |
+
"value": 3,
|
| 402 |
+
"yaw": 0.523598775598299
|
| 403 |
+
}
|
| 404 |
+
}
|
| 405 |
+
{
|
| 406 |
+
"action": {
|
| 407 |
+
"imageid": 31,
|
| 408 |
+
"pos": [
|
| 409 |
+
684.9330599789673,
|
| 410 |
+
-43.77075903769168,
|
| 411 |
+
-5.238631939105677
|
| 412 |
+
],
|
| 413 |
+
"type": "go straight",
|
| 414 |
+
"value": 3,
|
| 415 |
+
"yaw": 0.5235987755982894
|
| 416 |
+
}
|
| 417 |
+
}
|
| 418 |
+
{
|
| 419 |
+
"action": {
|
| 420 |
+
"imageid": 32,
|
| 421 |
+
"pos": [
|
| 422 |
+
687.5311361903207,
|
| 423 |
+
-42.27075903769168,
|
| 424 |
+
-5.238631939105677
|
| 425 |
+
],
|
| 426 |
+
"type": "go straight",
|
| 427 |
+
"value": 3,
|
| 428 |
+
"yaw": 0.5235987755982894
|
| 429 |
+
}
|
| 430 |
+
}
|
| 431 |
+
{
|
| 432 |
+
"action": {
|
| 433 |
+
"imageid": 33,
|
| 434 |
+
"pos": [
|
| 435 |
+
690.1292124016741,
|
| 436 |
+
-40.77075903769168,
|
| 437 |
+
-5.238631939105677
|
| 438 |
+
],
|
| 439 |
+
"type": "go straight",
|
| 440 |
+
"value": 3,
|
| 441 |
+
"yaw": 0.5235987755982894
|
| 442 |
+
}
|
| 443 |
+
}
|
| 444 |
+
{
|
| 445 |
+
"action": {
|
| 446 |
+
"imageid": 34,
|
| 447 |
+
"pos": [
|
| 448 |
+
692.7272886130274,
|
| 449 |
+
-39.27075903769168,
|
| 450 |
+
-5.238631939105677
|
| 451 |
+
],
|
| 452 |
+
"type": "go straight",
|
| 453 |
+
"value": 3,
|
| 454 |
+
"yaw": 0.5235987755982894
|
| 455 |
+
}
|
| 456 |
+
}
|
| 457 |
+
{
|
| 458 |
+
"action": {
|
| 459 |
+
"imageid": 35,
|
| 460 |
+
"pos": [
|
| 461 |
+
695.3253648243808,
|
| 462 |
+
-37.77075903769168,
|
| 463 |
+
-5.238631939105677
|
| 464 |
+
],
|
| 465 |
+
"type": "go straight",
|
| 466 |
+
"value": 3,
|
| 467 |
+
"yaw": 0.5235987755982894
|
| 468 |
+
}
|
| 469 |
+
}
|
| 470 |
+
{
|
| 471 |
+
"action": {
|
| 472 |
+
"imageid": 36,
|
| 473 |
+
"pos": [
|
| 474 |
+
697.9234410357342,
|
| 475 |
+
-36.27075903769168,
|
| 476 |
+
-5.238631939105677
|
| 477 |
+
],
|
| 478 |
+
"type": "go straight",
|
| 479 |
+
"value": 3,
|
| 480 |
+
"yaw": 0.5235987755982894
|
| 481 |
+
}
|
| 482 |
+
}
|
| 483 |
+
{
|
| 484 |
+
"action": {
|
| 485 |
+
"imageid": 37,
|
| 486 |
+
"pos": [
|
| 487 |
+
700.5215172470876,
|
| 488 |
+
-34.77075903769168,
|
| 489 |
+
-5.238631939105677
|
| 490 |
+
],
|
| 491 |
+
"type": "go straight",
|
| 492 |
+
"value": 3,
|
| 493 |
+
"yaw": 0.5235987755982894
|
| 494 |
+
}
|
| 495 |
+
}
|
| 496 |
+
{
|
| 497 |
+
"action": {
|
| 498 |
+
"imageid": 38,
|
| 499 |
+
"pos": [
|
| 500 |
+
703.1195934584409,
|
| 501 |
+
-33.27075903769168,
|
| 502 |
+
-5.238631939105677
|
| 503 |
+
],
|
| 504 |
+
"type": "go straight",
|
| 505 |
+
"value": 3,
|
| 506 |
+
"yaw": 0.5235987755982894
|
| 507 |
+
}
|
| 508 |
+
}
|
| 509 |
+
{
|
| 510 |
+
"action": {
|
| 511 |
+
"imageid": 39,
|
| 512 |
+
"pos": [
|
| 513 |
+
705.7176696697943,
|
| 514 |
+
-31.770759037691683,
|
| 515 |
+
-5.238631939105677
|
| 516 |
+
],
|
| 517 |
+
"type": "go straight",
|
| 518 |
+
"value": 3,
|
| 519 |
+
"yaw": 0.5235987755982894
|
| 520 |
+
}
|
| 521 |
+
}
|
| 522 |
+
{
|
| 523 |
+
"action": {
|
| 524 |
+
"imageid": 40,
|
| 525 |
+
"pos": [
|
| 526 |
+
708.3157458811477,
|
| 527 |
+
-30.270759037691683,
|
| 528 |
+
-5.238631939105677
|
| 529 |
+
],
|
| 530 |
+
"type": "go straight",
|
| 531 |
+
"value": 3,
|
| 532 |
+
"yaw": 0.5235987755982894
|
| 533 |
+
}
|
| 534 |
+
}
|
| 535 |
+
{
|
| 536 |
+
"action": {
|
| 537 |
+
"imageid": 41,
|
| 538 |
+
"pos": [
|
| 539 |
+
710.913822092501,
|
| 540 |
+
-28.770759037691683,
|
| 541 |
+
-5.238631939105677
|
| 542 |
+
],
|
| 543 |
+
"type": "go straight",
|
| 544 |
+
"value": 3,
|
| 545 |
+
"yaw": 0.5235987755982894
|
| 546 |
+
}
|
| 547 |
+
}
|
| 548 |
+
{
|
| 549 |
+
"action": {
|
| 550 |
+
"imageid": 42,
|
| 551 |
+
"pos": [
|
| 552 |
+
713.5118983038544,
|
| 553 |
+
-27.270759037691683,
|
| 554 |
+
-5.238631939105677
|
| 555 |
+
],
|
| 556 |
+
"type": "go straight",
|
| 557 |
+
"value": 3,
|
| 558 |
+
"yaw": 0.5235987755982894
|
| 559 |
+
}
|
| 560 |
+
}
|
| 561 |
+
{
|
| 562 |
+
"action": {
|
| 563 |
+
"imageid": 43,
|
| 564 |
+
"pos": [
|
| 565 |
+
716.1099745152078,
|
| 566 |
+
-25.770759037691683,
|
| 567 |
+
-5.238631939105677
|
| 568 |
+
],
|
| 569 |
+
"type": "go straight",
|
| 570 |
+
"value": 3,
|
| 571 |
+
"yaw": 0.5235987755982894
|
| 572 |
+
}
|
| 573 |
+
}
|
| 574 |
+
{
|
| 575 |
+
"action": {
|
| 576 |
+
"imageid": 44,
|
| 577 |
+
"pos": [
|
| 578 |
+
718.7080507265612,
|
| 579 |
+
-24.270759037691683,
|
| 580 |
+
-5.238631939105677
|
| 581 |
+
],
|
| 582 |
+
"type": "go straight",
|
| 583 |
+
"value": 3,
|
| 584 |
+
"yaw": 0.5235987755982894
|
| 585 |
+
}
|
| 586 |
+
}
|
| 587 |
+
{
|
| 588 |
+
"action": {
|
| 589 |
+
"imageid": 45,
|
| 590 |
+
"pos": [
|
| 591 |
+
721.3061269379145,
|
| 592 |
+
-22.770759037691683,
|
| 593 |
+
-5.238631939105677
|
| 594 |
+
],
|
| 595 |
+
"type": "go straight",
|
| 596 |
+
"value": 3,
|
| 597 |
+
"yaw": 0.5235987755982894
|
| 598 |
+
}
|
| 599 |
+
}
|
| 600 |
+
{
|
| 601 |
+
"action": {
|
| 602 |
+
"imageid": 46,
|
| 603 |
+
"pos": [
|
| 604 |
+
723.9042031492679,
|
| 605 |
+
-21.270759037691683,
|
| 606 |
+
-5.238631939105677
|
| 607 |
+
],
|
| 608 |
+
"type": "go straight",
|
| 609 |
+
"value": 3,
|
| 610 |
+
"yaw": 0.5235987755982894
|
| 611 |
+
}
|
| 612 |
+
}
|
| 613 |
+
{
|
| 614 |
+
"action": {
|
| 615 |
+
"imageid": 47,
|
| 616 |
+
"pos": [
|
| 617 |
+
726.5022793606213,
|
| 618 |
+
-19.770759037691683,
|
| 619 |
+
-5.238631939105677
|
| 620 |
+
],
|
| 621 |
+
"type": "stop",
|
| 622 |
+
"value": 0,
|
| 623 |
+
"yaw": 0.5235987755982894
|
| 624 |
+
}
|
| 625 |
+
}
|
| 626 |
+
{
|
| 627 |
+
"aim_landmark": {
|
| 628 |
+
"color": "test",
|
| 629 |
+
"feature": "test",
|
| 630 |
+
"position": [
|
| 631 |
+
727.4186401367188,
|
| 632 |
+
-18.7204083442688,
|
| 633 |
+
0.0
|
| 634 |
+
],
|
| 635 |
+
"shape": "test",
|
| 636 |
+
"size": "test",
|
| 637 |
+
"type": "building"
|
| 638 |
+
}
|
| 639 |
+
}
|
Image/env_gs_nwpu02/astar_data/long/2025-1-16_14-44-39_756898537/pose.jsonl
ADDED
|
@@ -0,0 +1,678 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
1359.8736841768562,
|
| 6 |
+
175.64765506971477,
|
| 7 |
+
3.005505063160914
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 0.0
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
1362.8736841768562,
|
| 19 |
+
175.64765506971477,
|
| 20 |
+
3.005505063160914
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 0.0
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
1365.8736841768562,
|
| 32 |
+
175.64765506971477,
|
| 33 |
+
3.005505063160914
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 0.0
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
1368.8736841768562,
|
| 45 |
+
175.64765506971477,
|
| 46 |
+
3.005505063160914
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 0.0
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
1371.8736841768562,
|
| 58 |
+
175.64765506971477,
|
| 59 |
+
3.005505063160914
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 0.0
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
1374.8736841768562,
|
| 71 |
+
175.64765506971477,
|
| 72 |
+
3.005505063160914
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 0.0
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
1377.8736841768562,
|
| 84 |
+
175.64765506971477,
|
| 85 |
+
3.005505063160914
|
| 86 |
+
],
|
| 87 |
+
"type": "turn right",
|
| 88 |
+
"value": 30,
|
| 89 |
+
"yaw": 0.0
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
1377.8736841768562,
|
| 97 |
+
175.64765506971477,
|
| 98 |
+
3.005505063160914
|
| 99 |
+
],
|
| 100 |
+
"type": "turn right",
|
| 101 |
+
"value": 30,
|
| 102 |
+
"yaw": -0.5235987755982988
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
1377.8736841768562,
|
| 110 |
+
175.64765506971477,
|
| 111 |
+
3.005505063160914
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -1.0471975511965976
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
1379.3736841768562,
|
| 123 |
+
173.04957885836146,
|
| 124 |
+
3.005505063160914
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -1.0471975511965979
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
1380.8736841768562,
|
| 136 |
+
170.45150264700814,
|
| 137 |
+
3.005505063160914
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -1.0471975511965979
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
1382.3736841768562,
|
| 149 |
+
167.85342643565482,
|
| 150 |
+
3.005505063160914
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -1.0471975511965979
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
1383.8736841768562,
|
| 162 |
+
165.2553502243015,
|
| 163 |
+
3.005505063160914
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -1.0471975511965979
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
1385.3736841768562,
|
| 175 |
+
162.6572740129482,
|
| 176 |
+
3.005505063160914
|
| 177 |
+
],
|
| 178 |
+
"type": "turn left",
|
| 179 |
+
"value": 30,
|
| 180 |
+
"yaw": -1.0471975511965979
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
1385.3736841768562,
|
| 188 |
+
162.6572740129482,
|
| 189 |
+
3.005505063160914
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -0.523598775598299
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
1387.9717603882095,
|
| 201 |
+
161.1572740129482,
|
| 202 |
+
3.005505063160914
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -0.5235987755982894
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
1390.569836599563,
|
| 214 |
+
159.6572740129482,
|
| 215 |
+
3.005505063160914
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -0.5235987755982894
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
1393.1679128109163,
|
| 227 |
+
158.1572740129482,
|
| 228 |
+
3.005505063160914
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": -0.5235987755982894
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
1395.7659890222697,
|
| 240 |
+
156.6572740129482,
|
| 241 |
+
3.005505063160914
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": -0.5235987755982894
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
1398.364065233623,
|
| 253 |
+
155.1572740129482,
|
| 254 |
+
3.005505063160914
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": -0.5235987755982894
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
1400.9621414449764,
|
| 266 |
+
153.6572740129482,
|
| 267 |
+
3.005505063160914
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": -0.5235987755982894
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
1403.5602176563298,
|
| 279 |
+
152.1572740129482,
|
| 280 |
+
3.005505063160914
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": -0.5235987755982894
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
1406.1582938676831,
|
| 292 |
+
150.6572740129482,
|
| 293 |
+
3.005505063160914
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": -0.5235987755982894
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"aim_landmark": {
|
| 302 |
+
"color": "test",
|
| 303 |
+
"feature": "test",
|
| 304 |
+
"position": [
|
| 305 |
+
1412.041893005371,
|
| 306 |
+
150.22052021026613,
|
| 307 |
+
0.0
|
| 308 |
+
],
|
| 309 |
+
"shape": "test",
|
| 310 |
+
"size": "test",
|
| 311 |
+
"type": "building"
|
| 312 |
+
}
|
| 313 |
+
}
|
| 314 |
+
{
|
| 315 |
+
"action": {
|
| 316 |
+
"imageid": 24,
|
| 317 |
+
"pos": [
|
| 318 |
+
1408.7563700790365,
|
| 319 |
+
149.1572740129482,
|
| 320 |
+
3.005505063160914
|
| 321 |
+
],
|
| 322 |
+
"type": "turn right",
|
| 323 |
+
"value": 30,
|
| 324 |
+
"yaw": -0.5235987755982894
|
| 325 |
+
}
|
| 326 |
+
}
|
| 327 |
+
{
|
| 328 |
+
"action": {
|
| 329 |
+
"imageid": 25,
|
| 330 |
+
"pos": [
|
| 331 |
+
1408.7563700790365,
|
| 332 |
+
149.1572740129482,
|
| 333 |
+
3.005505063160914
|
| 334 |
+
],
|
| 335 |
+
"type": "turn right",
|
| 336 |
+
"value": 30,
|
| 337 |
+
"yaw": -1.047197551196588
|
| 338 |
+
}
|
| 339 |
+
}
|
| 340 |
+
{
|
| 341 |
+
"action": {
|
| 342 |
+
"imageid": 26,
|
| 343 |
+
"pos": [
|
| 344 |
+
1408.7563700790365,
|
| 345 |
+
149.1572740129482,
|
| 346 |
+
3.005505063160914
|
| 347 |
+
],
|
| 348 |
+
"type": "go straight",
|
| 349 |
+
"value": 3,
|
| 350 |
+
"yaw": -1.0471975511965979
|
| 351 |
+
}
|
| 352 |
+
}
|
| 353 |
+
{
|
| 354 |
+
"action": {
|
| 355 |
+
"imageid": 27,
|
| 356 |
+
"pos": [
|
| 357 |
+
1410.2563700790365,
|
| 358 |
+
146.55919780159488,
|
| 359 |
+
3.005505063160914
|
| 360 |
+
],
|
| 361 |
+
"type": "go straight",
|
| 362 |
+
"value": 3,
|
| 363 |
+
"yaw": -1.0471975511965979
|
| 364 |
+
}
|
| 365 |
+
}
|
| 366 |
+
{
|
| 367 |
+
"action": {
|
| 368 |
+
"imageid": 28,
|
| 369 |
+
"pos": [
|
| 370 |
+
1411.7563700790365,
|
| 371 |
+
143.96112159024156,
|
| 372 |
+
3.005505063160914
|
| 373 |
+
],
|
| 374 |
+
"type": "go straight",
|
| 375 |
+
"value": 3,
|
| 376 |
+
"yaw": -1.0471975511965979
|
| 377 |
+
}
|
| 378 |
+
}
|
| 379 |
+
{
|
| 380 |
+
"action": {
|
| 381 |
+
"imageid": 29,
|
| 382 |
+
"pos": [
|
| 383 |
+
1413.2563700790365,
|
| 384 |
+
141.36304537888824,
|
| 385 |
+
3.005505063160914
|
| 386 |
+
],
|
| 387 |
+
"type": "go straight",
|
| 388 |
+
"value": 3,
|
| 389 |
+
"yaw": -1.0471975511965979
|
| 390 |
+
}
|
| 391 |
+
}
|
| 392 |
+
{
|
| 393 |
+
"action": {
|
| 394 |
+
"imageid": 30,
|
| 395 |
+
"pos": [
|
| 396 |
+
1414.7563700790365,
|
| 397 |
+
138.76496916753493,
|
| 398 |
+
3.005505063160914
|
| 399 |
+
],
|
| 400 |
+
"type": "go straight",
|
| 401 |
+
"value": 3,
|
| 402 |
+
"yaw": -1.0471975511965979
|
| 403 |
+
}
|
| 404 |
+
}
|
| 405 |
+
{
|
| 406 |
+
"action": {
|
| 407 |
+
"imageid": 31,
|
| 408 |
+
"pos": [
|
| 409 |
+
1416.2563700790365,
|
| 410 |
+
136.1668929561816,
|
| 411 |
+
3.005505063160914
|
| 412 |
+
],
|
| 413 |
+
"type": "go straight",
|
| 414 |
+
"value": 3,
|
| 415 |
+
"yaw": -1.0471975511965979
|
| 416 |
+
}
|
| 417 |
+
}
|
| 418 |
+
{
|
| 419 |
+
"action": {
|
| 420 |
+
"imageid": 32,
|
| 421 |
+
"pos": [
|
| 422 |
+
1417.7563700790365,
|
| 423 |
+
133.5688167448283,
|
| 424 |
+
3.005505063160914
|
| 425 |
+
],
|
| 426 |
+
"type": "go straight",
|
| 427 |
+
"value": 3,
|
| 428 |
+
"yaw": -1.0471975511965979
|
| 429 |
+
}
|
| 430 |
+
}
|
| 431 |
+
{
|
| 432 |
+
"action": {
|
| 433 |
+
"imageid": 33,
|
| 434 |
+
"pos": [
|
| 435 |
+
1419.2563700790365,
|
| 436 |
+
130.97074053347498,
|
| 437 |
+
3.005505063160914
|
| 438 |
+
],
|
| 439 |
+
"type": "go straight",
|
| 440 |
+
"value": 3,
|
| 441 |
+
"yaw": -1.0471975511965979
|
| 442 |
+
}
|
| 443 |
+
}
|
| 444 |
+
{
|
| 445 |
+
"action": {
|
| 446 |
+
"imageid": 34,
|
| 447 |
+
"pos": [
|
| 448 |
+
1420.7563700790365,
|
| 449 |
+
128.37266432212166,
|
| 450 |
+
3.005505063160914
|
| 451 |
+
],
|
| 452 |
+
"type": "go straight",
|
| 453 |
+
"value": 3,
|
| 454 |
+
"yaw": -1.0471975511965979
|
| 455 |
+
}
|
| 456 |
+
}
|
| 457 |
+
{
|
| 458 |
+
"action": {
|
| 459 |
+
"imageid": 35,
|
| 460 |
+
"pos": [
|
| 461 |
+
1422.2563700790365,
|
| 462 |
+
125.77458811076835,
|
| 463 |
+
3.005505063160914
|
| 464 |
+
],
|
| 465 |
+
"type": "go straight",
|
| 466 |
+
"value": 3,
|
| 467 |
+
"yaw": -1.0471975511965979
|
| 468 |
+
}
|
| 469 |
+
}
|
| 470 |
+
{
|
| 471 |
+
"action": {
|
| 472 |
+
"imageid": 36,
|
| 473 |
+
"pos": [
|
| 474 |
+
1423.7563700790365,
|
| 475 |
+
123.17651189941503,
|
| 476 |
+
3.005505063160914
|
| 477 |
+
],
|
| 478 |
+
"type": "go straight",
|
| 479 |
+
"value": 3,
|
| 480 |
+
"yaw": -1.0471975511965979
|
| 481 |
+
}
|
| 482 |
+
}
|
| 483 |
+
{
|
| 484 |
+
"action": {
|
| 485 |
+
"imageid": 37,
|
| 486 |
+
"pos": [
|
| 487 |
+
1425.2563700790365,
|
| 488 |
+
120.57843568806172,
|
| 489 |
+
3.005505063160914
|
| 490 |
+
],
|
| 491 |
+
"type": "go straight",
|
| 492 |
+
"value": 3,
|
| 493 |
+
"yaw": -1.0471975511965979
|
| 494 |
+
}
|
| 495 |
+
}
|
| 496 |
+
{
|
| 497 |
+
"action": {
|
| 498 |
+
"imageid": 38,
|
| 499 |
+
"pos": [
|
| 500 |
+
1426.7563700790365,
|
| 501 |
+
117.9803594767084,
|
| 502 |
+
3.005505063160914
|
| 503 |
+
],
|
| 504 |
+
"type": "go straight",
|
| 505 |
+
"value": 3,
|
| 506 |
+
"yaw": -1.0471975511965979
|
| 507 |
+
}
|
| 508 |
+
}
|
| 509 |
+
{
|
| 510 |
+
"action": {
|
| 511 |
+
"imageid": 39,
|
| 512 |
+
"pos": [
|
| 513 |
+
1428.2563700790365,
|
| 514 |
+
115.38228326535508,
|
| 515 |
+
3.005505063160914
|
| 516 |
+
],
|
| 517 |
+
"type": "turn right",
|
| 518 |
+
"value": 30,
|
| 519 |
+
"yaw": -1.0471975511965979
|
| 520 |
+
}
|
| 521 |
+
}
|
| 522 |
+
{
|
| 523 |
+
"action": {
|
| 524 |
+
"imageid": 40,
|
| 525 |
+
"pos": [
|
| 526 |
+
1428.2563700790365,
|
| 527 |
+
115.38228326535508,
|
| 528 |
+
3.005505063160914
|
| 529 |
+
],
|
| 530 |
+
"type": "go straight",
|
| 531 |
+
"value": 3,
|
| 532 |
+
"yaw": -1.5707963267948966
|
| 533 |
+
}
|
| 534 |
+
}
|
| 535 |
+
{
|
| 536 |
+
"action": {
|
| 537 |
+
"imageid": 41,
|
| 538 |
+
"pos": [
|
| 539 |
+
1428.2563700790365,
|
| 540 |
+
112.38228326535508,
|
| 541 |
+
3.005505063160914
|
| 542 |
+
],
|
| 543 |
+
"type": "go straight",
|
| 544 |
+
"value": 3,
|
| 545 |
+
"yaw": -1.5707963267948966
|
| 546 |
+
}
|
| 547 |
+
}
|
| 548 |
+
{
|
| 549 |
+
"action": {
|
| 550 |
+
"imageid": 42,
|
| 551 |
+
"pos": [
|
| 552 |
+
1428.2563700790365,
|
| 553 |
+
109.38228326535508,
|
| 554 |
+
3.005505063160914
|
| 555 |
+
],
|
| 556 |
+
"type": "go straight",
|
| 557 |
+
"value": 3,
|
| 558 |
+
"yaw": -1.5707963267948966
|
| 559 |
+
}
|
| 560 |
+
}
|
| 561 |
+
{
|
| 562 |
+
"action": {
|
| 563 |
+
"imageid": 43,
|
| 564 |
+
"pos": [
|
| 565 |
+
1428.2563700790365,
|
| 566 |
+
106.38228326535508,
|
| 567 |
+
3.005505063160914
|
| 568 |
+
],
|
| 569 |
+
"type": "go straight",
|
| 570 |
+
"value": 3,
|
| 571 |
+
"yaw": -1.5707963267948966
|
| 572 |
+
}
|
| 573 |
+
}
|
| 574 |
+
{
|
| 575 |
+
"action": {
|
| 576 |
+
"imageid": 44,
|
| 577 |
+
"pos": [
|
| 578 |
+
1428.2563700790365,
|
| 579 |
+
103.38228326535508,
|
| 580 |
+
3.005505063160914
|
| 581 |
+
],
|
| 582 |
+
"type": "go straight",
|
| 583 |
+
"value": 3,
|
| 584 |
+
"yaw": -1.5707963267948966
|
| 585 |
+
}
|
| 586 |
+
}
|
| 587 |
+
{
|
| 588 |
+
"action": {
|
| 589 |
+
"imageid": 45,
|
| 590 |
+
"pos": [
|
| 591 |
+
1428.2563700790365,
|
| 592 |
+
100.38228326535508,
|
| 593 |
+
3.005505063160914
|
| 594 |
+
],
|
| 595 |
+
"type": "go straight",
|
| 596 |
+
"value": 3,
|
| 597 |
+
"yaw": -1.5707963267948966
|
| 598 |
+
}
|
| 599 |
+
}
|
| 600 |
+
{
|
| 601 |
+
"action": {
|
| 602 |
+
"imageid": 46,
|
| 603 |
+
"pos": [
|
| 604 |
+
1428.2563700790365,
|
| 605 |
+
97.38228326535508,
|
| 606 |
+
3.005505063160914
|
| 607 |
+
],
|
| 608 |
+
"type": "go straight",
|
| 609 |
+
"value": 3,
|
| 610 |
+
"yaw": -1.5707963267948966
|
| 611 |
+
}
|
| 612 |
+
}
|
| 613 |
+
{
|
| 614 |
+
"action": {
|
| 615 |
+
"imageid": 47,
|
| 616 |
+
"pos": [
|
| 617 |
+
1428.2563700790365,
|
| 618 |
+
94.38228326535508,
|
| 619 |
+
3.005505063160914
|
| 620 |
+
],
|
| 621 |
+
"type": "go straight",
|
| 622 |
+
"value": 3,
|
| 623 |
+
"yaw": -1.5707963267948966
|
| 624 |
+
}
|
| 625 |
+
}
|
| 626 |
+
{
|
| 627 |
+
"action": {
|
| 628 |
+
"imageid": 48,
|
| 629 |
+
"pos": [
|
| 630 |
+
1428.2563700790365,
|
| 631 |
+
91.38228326535508,
|
| 632 |
+
3.005505063160914
|
| 633 |
+
],
|
| 634 |
+
"type": "go straight",
|
| 635 |
+
"value": 3,
|
| 636 |
+
"yaw": -1.5707963267948966
|
| 637 |
+
}
|
| 638 |
+
}
|
| 639 |
+
{
|
| 640 |
+
"action": {
|
| 641 |
+
"imageid": 49,
|
| 642 |
+
"pos": [
|
| 643 |
+
1428.2563700790365,
|
| 644 |
+
88.38228326535508,
|
| 645 |
+
3.005505063160914
|
| 646 |
+
],
|
| 647 |
+
"type": "go straight",
|
| 648 |
+
"value": 3,
|
| 649 |
+
"yaw": -1.5707963267948966
|
| 650 |
+
}
|
| 651 |
+
}
|
| 652 |
+
{
|
| 653 |
+
"action": {
|
| 654 |
+
"imageid": 50,
|
| 655 |
+
"pos": [
|
| 656 |
+
1428.2563700790365,
|
| 657 |
+
85.38228326535508,
|
| 658 |
+
3.005505063160914
|
| 659 |
+
],
|
| 660 |
+
"type": "stop",
|
| 661 |
+
"value": 0,
|
| 662 |
+
"yaw": -1.5707963267948966
|
| 663 |
+
}
|
| 664 |
+
}
|
| 665 |
+
{
|
| 666 |
+
"aim_landmark": {
|
| 667 |
+
"color": "test",
|
| 668 |
+
"feature": "test",
|
| 669 |
+
"position": [
|
| 670 |
+
1432.5684967041016,
|
| 671 |
+
76.17316565513612,
|
| 672 |
+
0.0
|
| 673 |
+
],
|
| 674 |
+
"shape": "test",
|
| 675 |
+
"size": "test",
|
| 676 |
+
"type": "building"
|
| 677 |
+
}
|
| 678 |
+
}
|
Image/env_gs_nwpu02/astar_data/long/2025-1-16_14-48-3_184803526/pose.jsonl
ADDED
|
@@ -0,0 +1,717 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
45.583291058414595,
|
| 6 |
+
72.13884530816269,
|
| 7 |
+
4.924454173868378
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -2.6179938779914944
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
42.98521484706128,
|
| 19 |
+
70.63884530816269,
|
| 20 |
+
4.924454173868378
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -2.6179938779914944
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
40.38713863570796,
|
| 32 |
+
69.13884530816269,
|
| 33 |
+
4.924454173868378
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -2.6179938779914944
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
37.78906242435465,
|
| 45 |
+
67.63884530816269,
|
| 46 |
+
4.924454173868378
|
| 47 |
+
],
|
| 48 |
+
"type": "turn left",
|
| 49 |
+
"value": 30,
|
| 50 |
+
"yaw": -2.6179938779914944
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
37.78906242435465,
|
| 58 |
+
67.63884530816269,
|
| 59 |
+
4.924454173868378
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -2.0943951023931957
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
36.28906242435465,
|
| 71 |
+
65.04076909680937,
|
| 72 |
+
4.924454173868378
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -2.0943951023931953
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
34.78906242435465,
|
| 84 |
+
62.442692885456054,
|
| 85 |
+
4.924454173868378
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -2.0943951023931953
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
33.28906242435465,
|
| 97 |
+
59.84461667410274,
|
| 98 |
+
4.924454173868378
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -2.0943951023931953
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
31.789062424354647,
|
| 110 |
+
57.24654046274942,
|
| 111 |
+
4.924454173868378
|
| 112 |
+
],
|
| 113 |
+
"type": "turn left",
|
| 114 |
+
"value": 30,
|
| 115 |
+
"yaw": -2.0943951023931953
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
31.789062424354647,
|
| 123 |
+
57.24654046274942,
|
| 124 |
+
4.924454173868378
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -1.5707963267948966
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
31.789062424354647,
|
| 136 |
+
54.24654046274942,
|
| 137 |
+
4.924454173868378
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -1.5707963267948966
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
31.789062424354647,
|
| 149 |
+
51.24654046274942,
|
| 150 |
+
4.924454173868378
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -1.5707963267948966
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
31.789062424354647,
|
| 162 |
+
48.24654046274942,
|
| 163 |
+
4.924454173868378
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -1.5707963267948966
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
31.789062424354647,
|
| 175 |
+
45.24654046274942,
|
| 176 |
+
4.924454173868378
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -1.5707963267948966
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
31.789062424354647,
|
| 188 |
+
42.24654046274942,
|
| 189 |
+
4.924454173868378
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -1.5707963267948966
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
31.789062424354647,
|
| 201 |
+
39.24654046274942,
|
| 202 |
+
4.924454173868378
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -1.5707963267948966
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
31.789062424354647,
|
| 214 |
+
36.24654046274942,
|
| 215 |
+
4.924454173868378
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -1.5707963267948966
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
31.789062424354647,
|
| 227 |
+
33.24654046274942,
|
| 228 |
+
4.924454173868378
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": -1.5707963267948966
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
31.789062424354647,
|
| 240 |
+
30.246540462749422,
|
| 241 |
+
4.924454173868378
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": -1.5707963267948966
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
31.789062424354647,
|
| 253 |
+
27.246540462749422,
|
| 254 |
+
4.924454173868378
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": -1.5707963267948966
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
31.789062424354647,
|
| 266 |
+
24.246540462749422,
|
| 267 |
+
4.924454173868378
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": -1.5707963267948966
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
31.789062424354647,
|
| 279 |
+
21.246540462749422,
|
| 280 |
+
4.924454173868378
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": -1.5707963267948966
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
31.789062424354647,
|
| 292 |
+
18.246540462749422,
|
| 293 |
+
4.924454173868378
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": -1.5707963267948966
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
31.789062424354647,
|
| 305 |
+
15.246540462749422,
|
| 306 |
+
4.924454173868378
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": -1.5707963267948966
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
31.789062424354647,
|
| 318 |
+
12.246540462749422,
|
| 319 |
+
4.924454173868378
|
| 320 |
+
],
|
| 321 |
+
"type": "go straight",
|
| 322 |
+
"value": 3,
|
| 323 |
+
"yaw": -1.5707963267948966
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"action": {
|
| 328 |
+
"imageid": 25,
|
| 329 |
+
"pos": [
|
| 330 |
+
31.789062424354647,
|
| 331 |
+
9.246540462749422,
|
| 332 |
+
4.924454173868378
|
| 333 |
+
],
|
| 334 |
+
"type": "go straight",
|
| 335 |
+
"value": 3,
|
| 336 |
+
"yaw": -1.5707963267948966
|
| 337 |
+
}
|
| 338 |
+
}
|
| 339 |
+
{
|
| 340 |
+
"action": {
|
| 341 |
+
"imageid": 26,
|
| 342 |
+
"pos": [
|
| 343 |
+
31.789062424354647,
|
| 344 |
+
6.246540462749422,
|
| 345 |
+
4.924454173868378
|
| 346 |
+
],
|
| 347 |
+
"type": "go straight",
|
| 348 |
+
"value": 3,
|
| 349 |
+
"yaw": -1.5707963267948966
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
{
|
| 353 |
+
"aim_landmark": {
|
| 354 |
+
"color": "test",
|
| 355 |
+
"feature": "test",
|
| 356 |
+
"position": [
|
| 357 |
+
31.34878616333008,
|
| 358 |
+
1.572951889038086,
|
| 359 |
+
0.0
|
| 360 |
+
],
|
| 361 |
+
"shape": "test",
|
| 362 |
+
"size": "test",
|
| 363 |
+
"type": "building"
|
| 364 |
+
}
|
| 365 |
+
}
|
| 366 |
+
{
|
| 367 |
+
"action": {
|
| 368 |
+
"imageid": 28,
|
| 369 |
+
"pos": [
|
| 370 |
+
31.789062424354647,
|
| 371 |
+
3.2465404627494223,
|
| 372 |
+
4.924454173868378
|
| 373 |
+
],
|
| 374 |
+
"type": "turn left",
|
| 375 |
+
"value": 30,
|
| 376 |
+
"yaw": -1.5707963267948966
|
| 377 |
+
}
|
| 378 |
+
}
|
| 379 |
+
{
|
| 380 |
+
"action": {
|
| 381 |
+
"imageid": 29,
|
| 382 |
+
"pos": [
|
| 383 |
+
31.789062424354647,
|
| 384 |
+
3.2465404627494223,
|
| 385 |
+
4.924454173868378
|
| 386 |
+
],
|
| 387 |
+
"type": "go straight",
|
| 388 |
+
"value": 3,
|
| 389 |
+
"yaw": -1.0471975511965979
|
| 390 |
+
}
|
| 391 |
+
}
|
| 392 |
+
{
|
| 393 |
+
"action": {
|
| 394 |
+
"imageid": 30,
|
| 395 |
+
"pos": [
|
| 396 |
+
33.28906242435465,
|
| 397 |
+
0.6484642513961063,
|
| 398 |
+
4.924454173868378
|
| 399 |
+
],
|
| 400 |
+
"type": "go straight",
|
| 401 |
+
"value": 3,
|
| 402 |
+
"yaw": -1.0471975511965979
|
| 403 |
+
}
|
| 404 |
+
}
|
| 405 |
+
{
|
| 406 |
+
"action": {
|
| 407 |
+
"imageid": 31,
|
| 408 |
+
"pos": [
|
| 409 |
+
34.78906242435465,
|
| 410 |
+
-1.9496119599572097,
|
| 411 |
+
4.924454173868378
|
| 412 |
+
],
|
| 413 |
+
"type": "go straight",
|
| 414 |
+
"value": 3,
|
| 415 |
+
"yaw": -1.0471975511965979
|
| 416 |
+
}
|
| 417 |
+
}
|
| 418 |
+
{
|
| 419 |
+
"action": {
|
| 420 |
+
"imageid": 32,
|
| 421 |
+
"pos": [
|
| 422 |
+
36.28906242435465,
|
| 423 |
+
-4.547688171310526,
|
| 424 |
+
4.924454173868378
|
| 425 |
+
],
|
| 426 |
+
"type": "go straight",
|
| 427 |
+
"value": 3,
|
| 428 |
+
"yaw": -1.0471975511965979
|
| 429 |
+
}
|
| 430 |
+
}
|
| 431 |
+
{
|
| 432 |
+
"action": {
|
| 433 |
+
"imageid": 33,
|
| 434 |
+
"pos": [
|
| 435 |
+
37.78906242435465,
|
| 436 |
+
-7.145764382663842,
|
| 437 |
+
4.924454173868378
|
| 438 |
+
],
|
| 439 |
+
"type": "go straight",
|
| 440 |
+
"value": 3,
|
| 441 |
+
"yaw": -1.0471975511965979
|
| 442 |
+
}
|
| 443 |
+
}
|
| 444 |
+
{
|
| 445 |
+
"action": {
|
| 446 |
+
"imageid": 34,
|
| 447 |
+
"pos": [
|
| 448 |
+
39.28906242435465,
|
| 449 |
+
-9.743840594017158,
|
| 450 |
+
4.924454173868378
|
| 451 |
+
],
|
| 452 |
+
"type": "go straight",
|
| 453 |
+
"value": 3,
|
| 454 |
+
"yaw": -1.0471975511965979
|
| 455 |
+
}
|
| 456 |
+
}
|
| 457 |
+
{
|
| 458 |
+
"action": {
|
| 459 |
+
"imageid": 35,
|
| 460 |
+
"pos": [
|
| 461 |
+
40.78906242435465,
|
| 462 |
+
-12.341916805370474,
|
| 463 |
+
4.924454173868378
|
| 464 |
+
],
|
| 465 |
+
"type": "go straight",
|
| 466 |
+
"value": 3,
|
| 467 |
+
"yaw": -1.0471975511965979
|
| 468 |
+
}
|
| 469 |
+
}
|
| 470 |
+
{
|
| 471 |
+
"action": {
|
| 472 |
+
"imageid": 36,
|
| 473 |
+
"pos": [
|
| 474 |
+
42.28906242435465,
|
| 475 |
+
-14.93999301672379,
|
| 476 |
+
4.924454173868378
|
| 477 |
+
],
|
| 478 |
+
"type": "go straight",
|
| 479 |
+
"value": 3,
|
| 480 |
+
"yaw": -1.0471975511965979
|
| 481 |
+
}
|
| 482 |
+
}
|
| 483 |
+
{
|
| 484 |
+
"action": {
|
| 485 |
+
"imageid": 37,
|
| 486 |
+
"pos": [
|
| 487 |
+
43.78906242435465,
|
| 488 |
+
-17.538069228077106,
|
| 489 |
+
4.924454173868378
|
| 490 |
+
],
|
| 491 |
+
"type": "go straight",
|
| 492 |
+
"value": 3,
|
| 493 |
+
"yaw": -1.0471975511965979
|
| 494 |
+
}
|
| 495 |
+
}
|
| 496 |
+
{
|
| 497 |
+
"action": {
|
| 498 |
+
"imageid": 38,
|
| 499 |
+
"pos": [
|
| 500 |
+
45.28906242435465,
|
| 501 |
+
-20.136145439430422,
|
| 502 |
+
4.924454173868378
|
| 503 |
+
],
|
| 504 |
+
"type": "go straight",
|
| 505 |
+
"value": 3,
|
| 506 |
+
"yaw": -1.0471975511965979
|
| 507 |
+
}
|
| 508 |
+
}
|
| 509 |
+
{
|
| 510 |
+
"action": {
|
| 511 |
+
"imageid": 39,
|
| 512 |
+
"pos": [
|
| 513 |
+
46.78906242435465,
|
| 514 |
+
-22.734221650783738,
|
| 515 |
+
4.924454173868378
|
| 516 |
+
],
|
| 517 |
+
"type": "go straight",
|
| 518 |
+
"value": 3,
|
| 519 |
+
"yaw": -1.0471975511965979
|
| 520 |
+
}
|
| 521 |
+
}
|
| 522 |
+
{
|
| 523 |
+
"action": {
|
| 524 |
+
"imageid": 40,
|
| 525 |
+
"pos": [
|
| 526 |
+
48.28906242435465,
|
| 527 |
+
-25.332297862137054,
|
| 528 |
+
4.924454173868378
|
| 529 |
+
],
|
| 530 |
+
"type": "go straight",
|
| 531 |
+
"value": 3,
|
| 532 |
+
"yaw": -1.0471975511965979
|
| 533 |
+
}
|
| 534 |
+
}
|
| 535 |
+
{
|
| 536 |
+
"action": {
|
| 537 |
+
"imageid": 41,
|
| 538 |
+
"pos": [
|
| 539 |
+
49.78906242435465,
|
| 540 |
+
-27.93037407349037,
|
| 541 |
+
4.924454173868378
|
| 542 |
+
],
|
| 543 |
+
"type": "go straight",
|
| 544 |
+
"value": 3,
|
| 545 |
+
"yaw": -1.0471975511965979
|
| 546 |
+
}
|
| 547 |
+
}
|
| 548 |
+
{
|
| 549 |
+
"action": {
|
| 550 |
+
"imageid": 42,
|
| 551 |
+
"pos": [
|
| 552 |
+
51.28906242435465,
|
| 553 |
+
-30.528450284843686,
|
| 554 |
+
4.924454173868378
|
| 555 |
+
],
|
| 556 |
+
"type": "go straight",
|
| 557 |
+
"value": 3,
|
| 558 |
+
"yaw": -1.0471975511965979
|
| 559 |
+
}
|
| 560 |
+
}
|
| 561 |
+
{
|
| 562 |
+
"action": {
|
| 563 |
+
"imageid": 43,
|
| 564 |
+
"pos": [
|
| 565 |
+
52.78906242435465,
|
| 566 |
+
-33.126526496197,
|
| 567 |
+
4.924454173868378
|
| 568 |
+
],
|
| 569 |
+
"type": "go straight",
|
| 570 |
+
"value": 3,
|
| 571 |
+
"yaw": -1.0471975511965979
|
| 572 |
+
}
|
| 573 |
+
}
|
| 574 |
+
{
|
| 575 |
+
"action": {
|
| 576 |
+
"imageid": 44,
|
| 577 |
+
"pos": [
|
| 578 |
+
54.28906242435465,
|
| 579 |
+
-35.72460270755032,
|
| 580 |
+
4.924454173868378
|
| 581 |
+
],
|
| 582 |
+
"type": "go straight",
|
| 583 |
+
"value": 3,
|
| 584 |
+
"yaw": -1.0471975511965979
|
| 585 |
+
}
|
| 586 |
+
}
|
| 587 |
+
{
|
| 588 |
+
"action": {
|
| 589 |
+
"imageid": 45,
|
| 590 |
+
"pos": [
|
| 591 |
+
55.78906242435465,
|
| 592 |
+
-38.322678918903634,
|
| 593 |
+
4.924454173868378
|
| 594 |
+
],
|
| 595 |
+
"type": "go straight",
|
| 596 |
+
"value": 3,
|
| 597 |
+
"yaw": -1.0471975511965979
|
| 598 |
+
}
|
| 599 |
+
}
|
| 600 |
+
{
|
| 601 |
+
"action": {
|
| 602 |
+
"imageid": 46,
|
| 603 |
+
"pos": [
|
| 604 |
+
57.28906242435465,
|
| 605 |
+
-40.92075513025695,
|
| 606 |
+
4.924454173868378
|
| 607 |
+
],
|
| 608 |
+
"type": "go straight",
|
| 609 |
+
"value": 3,
|
| 610 |
+
"yaw": -1.0471975511965979
|
| 611 |
+
}
|
| 612 |
+
}
|
| 613 |
+
{
|
| 614 |
+
"action": {
|
| 615 |
+
"imageid": 47,
|
| 616 |
+
"pos": [
|
| 617 |
+
58.78906242435465,
|
| 618 |
+
-43.518831341610266,
|
| 619 |
+
4.924454173868378
|
| 620 |
+
],
|
| 621 |
+
"type": "go straight",
|
| 622 |
+
"value": 3,
|
| 623 |
+
"yaw": -1.0471975511965979
|
| 624 |
+
}
|
| 625 |
+
}
|
| 626 |
+
{
|
| 627 |
+
"action": {
|
| 628 |
+
"imageid": 48,
|
| 629 |
+
"pos": [
|
| 630 |
+
60.28906242435465,
|
| 631 |
+
-46.11690755296358,
|
| 632 |
+
4.924454173868378
|
| 633 |
+
],
|
| 634 |
+
"type": "go straight",
|
| 635 |
+
"value": 3,
|
| 636 |
+
"yaw": -1.0471975511965979
|
| 637 |
+
}
|
| 638 |
+
}
|
| 639 |
+
{
|
| 640 |
+
"action": {
|
| 641 |
+
"imageid": 49,
|
| 642 |
+
"pos": [
|
| 643 |
+
61.78906242435465,
|
| 644 |
+
-48.7149837643169,
|
| 645 |
+
4.924454173868378
|
| 646 |
+
],
|
| 647 |
+
"type": "go straight",
|
| 648 |
+
"value": 3,
|
| 649 |
+
"yaw": -1.0471975511965979
|
| 650 |
+
}
|
| 651 |
+
}
|
| 652 |
+
{
|
| 653 |
+
"action": {
|
| 654 |
+
"imageid": 50,
|
| 655 |
+
"pos": [
|
| 656 |
+
63.28906242435465,
|
| 657 |
+
-51.313059975670214,
|
| 658 |
+
4.924454173868378
|
| 659 |
+
],
|
| 660 |
+
"type": "turn left",
|
| 661 |
+
"value": 30,
|
| 662 |
+
"yaw": -1.0471975511965979
|
| 663 |
+
}
|
| 664 |
+
}
|
| 665 |
+
{
|
| 666 |
+
"action": {
|
| 667 |
+
"imageid": 51,
|
| 668 |
+
"pos": [
|
| 669 |
+
63.28906242435465,
|
| 670 |
+
-51.313059975670214,
|
| 671 |
+
4.924454173868378
|
| 672 |
+
],
|
| 673 |
+
"type": "go straight",
|
| 674 |
+
"value": 3,
|
| 675 |
+
"yaw": -0.523598775598299
|
| 676 |
+
}
|
| 677 |
+
}
|
| 678 |
+
{
|
| 679 |
+
"action": {
|
| 680 |
+
"imageid": 52,
|
| 681 |
+
"pos": [
|
| 682 |
+
65.88713863570797,
|
| 683 |
+
-52.813059975670214,
|
| 684 |
+
4.924454173868378
|
| 685 |
+
],
|
| 686 |
+
"type": "go straight",
|
| 687 |
+
"value": 3,
|
| 688 |
+
"yaw": -0.5235987755982977
|
| 689 |
+
}
|
| 690 |
+
}
|
| 691 |
+
{
|
| 692 |
+
"action": {
|
| 693 |
+
"imageid": 53,
|
| 694 |
+
"pos": [
|
| 695 |
+
68.48521484706129,
|
| 696 |
+
-54.313059975670214,
|
| 697 |
+
4.924454173868378
|
| 698 |
+
],
|
| 699 |
+
"type": "stop",
|
| 700 |
+
"value": 0,
|
| 701 |
+
"yaw": -0.5235987755982977
|
| 702 |
+
}
|
| 703 |
+
}
|
| 704 |
+
{
|
| 705 |
+
"aim_landmark": {
|
| 706 |
+
"color": "test",
|
| 707 |
+
"feature": "test",
|
| 708 |
+
"position": [
|
| 709 |
+
70.69211120605469,
|
| 710 |
+
-56.732511901855474,
|
| 711 |
+
0.0
|
| 712 |
+
],
|
| 713 |
+
"shape": "test",
|
| 714 |
+
"size": "test",
|
| 715 |
+
"type": "building"
|
| 716 |
+
}
|
| 717 |
+
}
|
Image/env_gs_nwpu02/astar_data/long/2025-1-16_14-48-57_1424268980/pose.jsonl
ADDED
|
@@ -0,0 +1,340 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
1114.9007157280528,
|
| 6 |
+
-280.15382002231746,
|
| 7 |
+
-0.1997815272161514
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 2.0943951023931953
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
1113.4007157280528,
|
| 19 |
+
-277.55574381096415,
|
| 20 |
+
-0.1997815272161514
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 2.0943951023931953
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
1111.9007157280528,
|
| 32 |
+
-274.95766759961083,
|
| 33 |
+
-0.1997815272161514
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 2.0943951023931953
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
1110.4007157280528,
|
| 45 |
+
-272.3595913882575,
|
| 46 |
+
-0.1997815272161514
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 2.0943951023931953
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
1108.9007157280528,
|
| 58 |
+
-269.7615151769042,
|
| 59 |
+
-0.1997815272161514
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 2.0943951023931953
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
1107.4007157280528,
|
| 71 |
+
-267.1634389655509,
|
| 72 |
+
-0.1997815272161514
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 2.0943951023931953
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
1105.9007157280528,
|
| 84 |
+
-264.56536275419757,
|
| 85 |
+
-0.1997815272161514
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 2.0943951023931953
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"aim_landmark": {
|
| 94 |
+
"color": "test",
|
| 95 |
+
"feature": "test",
|
| 96 |
+
"position": [
|
| 97 |
+
1078.2823501586915,
|
| 98 |
+
-224.4462232589722,
|
| 99 |
+
0.0
|
| 100 |
+
],
|
| 101 |
+
"shape": "test",
|
| 102 |
+
"size": "test",
|
| 103 |
+
"type": "building"
|
| 104 |
+
}
|
| 105 |
+
}
|
| 106 |
+
{
|
| 107 |
+
"action": {
|
| 108 |
+
"imageid": 8,
|
| 109 |
+
"pos": [
|
| 110 |
+
1104.4007157280528,
|
| 111 |
+
-261.96728654284425,
|
| 112 |
+
-0.1997815272161514
|
| 113 |
+
],
|
| 114 |
+
"type": "turn right",
|
| 115 |
+
"value": 30,
|
| 116 |
+
"yaw": 2.0943951023931953
|
| 117 |
+
}
|
| 118 |
+
}
|
| 119 |
+
{
|
| 120 |
+
"action": {
|
| 121 |
+
"imageid": 9,
|
| 122 |
+
"pos": [
|
| 123 |
+
1104.4007157280528,
|
| 124 |
+
-261.96728654284425,
|
| 125 |
+
-0.1997815272161514
|
| 126 |
+
],
|
| 127 |
+
"type": "turn right",
|
| 128 |
+
"value": 30,
|
| 129 |
+
"yaw": 1.5707963267948966
|
| 130 |
+
}
|
| 131 |
+
}
|
| 132 |
+
{
|
| 133 |
+
"action": {
|
| 134 |
+
"imageid": 10,
|
| 135 |
+
"pos": [
|
| 136 |
+
1104.4007157280528,
|
| 137 |
+
-261.96728654284425,
|
| 138 |
+
-0.1997815272161514
|
| 139 |
+
],
|
| 140 |
+
"type": "go straight",
|
| 141 |
+
"value": 3,
|
| 142 |
+
"yaw": 1.0471975511965979
|
| 143 |
+
}
|
| 144 |
+
}
|
| 145 |
+
{
|
| 146 |
+
"action": {
|
| 147 |
+
"imageid": 11,
|
| 148 |
+
"pos": [
|
| 149 |
+
1105.9007157280528,
|
| 150 |
+
-259.36921033149093,
|
| 151 |
+
-0.1997815272161514
|
| 152 |
+
],
|
| 153 |
+
"type": "go straight",
|
| 154 |
+
"value": 3,
|
| 155 |
+
"yaw": 1.0471975511965979
|
| 156 |
+
}
|
| 157 |
+
}
|
| 158 |
+
{
|
| 159 |
+
"action": {
|
| 160 |
+
"imageid": 12,
|
| 161 |
+
"pos": [
|
| 162 |
+
1107.4007157280528,
|
| 163 |
+
-256.7711341201376,
|
| 164 |
+
-0.1997815272161514
|
| 165 |
+
],
|
| 166 |
+
"type": "go straight",
|
| 167 |
+
"value": 3,
|
| 168 |
+
"yaw": 1.0471975511965979
|
| 169 |
+
}
|
| 170 |
+
}
|
| 171 |
+
{
|
| 172 |
+
"action": {
|
| 173 |
+
"imageid": 13,
|
| 174 |
+
"pos": [
|
| 175 |
+
1108.9007157280528,
|
| 176 |
+
-254.1730579087843,
|
| 177 |
+
-0.1997815272161514
|
| 178 |
+
],
|
| 179 |
+
"type": "go straight",
|
| 180 |
+
"value": 3,
|
| 181 |
+
"yaw": 1.0471975511965979
|
| 182 |
+
}
|
| 183 |
+
}
|
| 184 |
+
{
|
| 185 |
+
"action": {
|
| 186 |
+
"imageid": 14,
|
| 187 |
+
"pos": [
|
| 188 |
+
1110.4007157280528,
|
| 189 |
+
-251.57498169743099,
|
| 190 |
+
-0.1997815272161514
|
| 191 |
+
],
|
| 192 |
+
"type": "go straight",
|
| 193 |
+
"value": 3,
|
| 194 |
+
"yaw": 1.0471975511965979
|
| 195 |
+
}
|
| 196 |
+
}
|
| 197 |
+
{
|
| 198 |
+
"action": {
|
| 199 |
+
"imageid": 15,
|
| 200 |
+
"pos": [
|
| 201 |
+
1111.9007157280528,
|
| 202 |
+
-248.97690548607767,
|
| 203 |
+
-0.1997815272161514
|
| 204 |
+
],
|
| 205 |
+
"type": "go straight",
|
| 206 |
+
"value": 3,
|
| 207 |
+
"yaw": 1.0471975511965979
|
| 208 |
+
}
|
| 209 |
+
}
|
| 210 |
+
{
|
| 211 |
+
"action": {
|
| 212 |
+
"imageid": 16,
|
| 213 |
+
"pos": [
|
| 214 |
+
1113.4007157280528,
|
| 215 |
+
-246.37882927472435,
|
| 216 |
+
-0.1997815272161514
|
| 217 |
+
],
|
| 218 |
+
"type": "go straight",
|
| 219 |
+
"value": 3,
|
| 220 |
+
"yaw": 1.0471975511965979
|
| 221 |
+
}
|
| 222 |
+
}
|
| 223 |
+
{
|
| 224 |
+
"action": {
|
| 225 |
+
"imageid": 17,
|
| 226 |
+
"pos": [
|
| 227 |
+
1114.9007157280528,
|
| 228 |
+
-243.78075306337104,
|
| 229 |
+
-0.1997815272161514
|
| 230 |
+
],
|
| 231 |
+
"type": "go straight",
|
| 232 |
+
"value": 3,
|
| 233 |
+
"yaw": 1.0471975511965979
|
| 234 |
+
}
|
| 235 |
+
}
|
| 236 |
+
{
|
| 237 |
+
"action": {
|
| 238 |
+
"imageid": 18,
|
| 239 |
+
"pos": [
|
| 240 |
+
1116.4007157280528,
|
| 241 |
+
-241.18267685201772,
|
| 242 |
+
-0.1997815272161514
|
| 243 |
+
],
|
| 244 |
+
"type": "go straight",
|
| 245 |
+
"value": 3,
|
| 246 |
+
"yaw": 1.0471975511965979
|
| 247 |
+
}
|
| 248 |
+
}
|
| 249 |
+
{
|
| 250 |
+
"action": {
|
| 251 |
+
"imageid": 19,
|
| 252 |
+
"pos": [
|
| 253 |
+
1117.9007157280528,
|
| 254 |
+
-238.5846006406644,
|
| 255 |
+
-0.1997815272161514
|
| 256 |
+
],
|
| 257 |
+
"type": "go straight",
|
| 258 |
+
"value": 3,
|
| 259 |
+
"yaw": 1.0471975511965979
|
| 260 |
+
}
|
| 261 |
+
}
|
| 262 |
+
{
|
| 263 |
+
"action": {
|
| 264 |
+
"imageid": 20,
|
| 265 |
+
"pos": [
|
| 266 |
+
1119.4007157280528,
|
| 267 |
+
-235.9865244293111,
|
| 268 |
+
-0.1997815272161514
|
| 269 |
+
],
|
| 270 |
+
"type": "go straight",
|
| 271 |
+
"value": 3,
|
| 272 |
+
"yaw": 1.0471975511965979
|
| 273 |
+
}
|
| 274 |
+
}
|
| 275 |
+
{
|
| 276 |
+
"action": {
|
| 277 |
+
"imageid": 21,
|
| 278 |
+
"pos": [
|
| 279 |
+
1120.9007157280528,
|
| 280 |
+
-233.38844821795777,
|
| 281 |
+
-0.1997815272161514
|
| 282 |
+
],
|
| 283 |
+
"type": "go straight",
|
| 284 |
+
"value": 3,
|
| 285 |
+
"yaw": 1.0471975511965979
|
| 286 |
+
}
|
| 287 |
+
}
|
| 288 |
+
{
|
| 289 |
+
"action": {
|
| 290 |
+
"imageid": 22,
|
| 291 |
+
"pos": [
|
| 292 |
+
1122.4007157280528,
|
| 293 |
+
-230.79037200660446,
|
| 294 |
+
-0.1997815272161514
|
| 295 |
+
],
|
| 296 |
+
"type": "go straight",
|
| 297 |
+
"value": 3,
|
| 298 |
+
"yaw": 1.0471975511965979
|
| 299 |
+
}
|
| 300 |
+
}
|
| 301 |
+
{
|
| 302 |
+
"action": {
|
| 303 |
+
"imageid": 23,
|
| 304 |
+
"pos": [
|
| 305 |
+
1123.9007157280528,
|
| 306 |
+
-228.19229579525114,
|
| 307 |
+
-0.1997815272161514
|
| 308 |
+
],
|
| 309 |
+
"type": "go straight",
|
| 310 |
+
"value": 3,
|
| 311 |
+
"yaw": 1.0471975511965979
|
| 312 |
+
}
|
| 313 |
+
}
|
| 314 |
+
{
|
| 315 |
+
"action": {
|
| 316 |
+
"imageid": 24,
|
| 317 |
+
"pos": [
|
| 318 |
+
1125.4007157280528,
|
| 319 |
+
-225.59421958389783,
|
| 320 |
+
-0.1997815272161514
|
| 321 |
+
],
|
| 322 |
+
"type": "stop",
|
| 323 |
+
"value": 0,
|
| 324 |
+
"yaw": 1.0471975511965979
|
| 325 |
+
}
|
| 326 |
+
}
|
| 327 |
+
{
|
| 328 |
+
"aim_landmark": {
|
| 329 |
+
"color": "test",
|
| 330 |
+
"feature": "test",
|
| 331 |
+
"position": [
|
| 332 |
+
1136.0676353454592,
|
| 333 |
+
-208.6565689086914,
|
| 334 |
+
0.0
|
| 335 |
+
],
|
| 336 |
+
"shape": "test",
|
| 337 |
+
"size": "test",
|
| 338 |
+
"type": "building"
|
| 339 |
+
}
|
| 340 |
+
}
|
Image/env_gs_nwpu02/astar_data/long/2025-1-16_14-55-17_1159126505/pose.jsonl
ADDED
|
@@ -0,0 +1,444 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
829.2430084011467,
|
| 6 |
+
-471.4935981954372,
|
| 7 |
+
-1.3039337404987705
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 1.5707963267948966
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
829.2430084011467,
|
| 19 |
+
-468.4935981954372,
|
| 20 |
+
-1.3039337404987705
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 1.5707963267948966
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
829.2430084011467,
|
| 32 |
+
-465.4935981954372,
|
| 33 |
+
-1.3039337404987705
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 1.5707963267948966
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
829.2430084011467,
|
| 45 |
+
-462.4935981954372,
|
| 46 |
+
-1.3039337404987705
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 1.5707963267948966
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
829.2430084011467,
|
| 58 |
+
-459.4935981954372,
|
| 59 |
+
-1.3039337404987705
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 1.5707963267948966
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"aim_landmark": {
|
| 68 |
+
"color": "test",
|
| 69 |
+
"feature": "test",
|
| 70 |
+
"position": [
|
| 71 |
+
833.5786102294923,
|
| 72 |
+
-416.10598869323735,
|
| 73 |
+
0.0
|
| 74 |
+
],
|
| 75 |
+
"shape": "test",
|
| 76 |
+
"size": "test",
|
| 77 |
+
"type": "building"
|
| 78 |
+
}
|
| 79 |
+
}
|
| 80 |
+
{
|
| 81 |
+
"action": {
|
| 82 |
+
"imageid": 6,
|
| 83 |
+
"pos": [
|
| 84 |
+
829.2430084011467,
|
| 85 |
+
-456.4935981954372,
|
| 86 |
+
-1.3039337404987705
|
| 87 |
+
],
|
| 88 |
+
"type": "turn left",
|
| 89 |
+
"value": 30,
|
| 90 |
+
"yaw": 1.5707963267948966
|
| 91 |
+
}
|
| 92 |
+
}
|
| 93 |
+
{
|
| 94 |
+
"action": {
|
| 95 |
+
"imageid": 7,
|
| 96 |
+
"pos": [
|
| 97 |
+
829.2430084011467,
|
| 98 |
+
-456.4935981954372,
|
| 99 |
+
-1.3039337404987705
|
| 100 |
+
],
|
| 101 |
+
"type": "turn left",
|
| 102 |
+
"value": 30,
|
| 103 |
+
"yaw": 2.0943951023931953
|
| 104 |
+
}
|
| 105 |
+
}
|
| 106 |
+
{
|
| 107 |
+
"action": {
|
| 108 |
+
"imageid": 8,
|
| 109 |
+
"pos": [
|
| 110 |
+
829.2430084011467,
|
| 111 |
+
-456.4935981954372,
|
| 112 |
+
-1.3039337404987705
|
| 113 |
+
],
|
| 114 |
+
"type": "turn left",
|
| 115 |
+
"value": 30,
|
| 116 |
+
"yaw": 2.617993877991494
|
| 117 |
+
}
|
| 118 |
+
}
|
| 119 |
+
{
|
| 120 |
+
"action": {
|
| 121 |
+
"imageid": 9,
|
| 122 |
+
"pos": [
|
| 123 |
+
829.2430084011467,
|
| 124 |
+
-456.4935981954372,
|
| 125 |
+
-1.3039337404987705
|
| 126 |
+
],
|
| 127 |
+
"type": "turn left",
|
| 128 |
+
"value": 30,
|
| 129 |
+
"yaw": 3.141592653589793
|
| 130 |
+
}
|
| 131 |
+
}
|
| 132 |
+
{
|
| 133 |
+
"action": {
|
| 134 |
+
"imageid": 10,
|
| 135 |
+
"pos": [
|
| 136 |
+
829.2430084011467,
|
| 137 |
+
-456.4935981954372,
|
| 138 |
+
-1.3039337404987705
|
| 139 |
+
],
|
| 140 |
+
"type": "go straight",
|
| 141 |
+
"value": 3,
|
| 142 |
+
"yaw": 3.141592653589793
|
| 143 |
+
}
|
| 144 |
+
}
|
| 145 |
+
{
|
| 146 |
+
"action": {
|
| 147 |
+
"imageid": 11,
|
| 148 |
+
"pos": [
|
| 149 |
+
826.2430084011467,
|
| 150 |
+
-456.4935981954372,
|
| 151 |
+
-1.3039337404987705
|
| 152 |
+
],
|
| 153 |
+
"type": "go straight",
|
| 154 |
+
"value": 3,
|
| 155 |
+
"yaw": 3.141592653589793
|
| 156 |
+
}
|
| 157 |
+
}
|
| 158 |
+
{
|
| 159 |
+
"action": {
|
| 160 |
+
"imageid": 12,
|
| 161 |
+
"pos": [
|
| 162 |
+
823.2430084011467,
|
| 163 |
+
-456.4935981954372,
|
| 164 |
+
-1.3039337404987705
|
| 165 |
+
],
|
| 166 |
+
"type": "go straight",
|
| 167 |
+
"value": 3,
|
| 168 |
+
"yaw": 3.141592653589793
|
| 169 |
+
}
|
| 170 |
+
}
|
| 171 |
+
{
|
| 172 |
+
"action": {
|
| 173 |
+
"imageid": 13,
|
| 174 |
+
"pos": [
|
| 175 |
+
820.2430084011467,
|
| 176 |
+
-456.4935981954372,
|
| 177 |
+
-1.3039337404987705
|
| 178 |
+
],
|
| 179 |
+
"type": "go straight",
|
| 180 |
+
"value": 3,
|
| 181 |
+
"yaw": 3.141592653589793
|
| 182 |
+
}
|
| 183 |
+
}
|
| 184 |
+
{
|
| 185 |
+
"action": {
|
| 186 |
+
"imageid": 14,
|
| 187 |
+
"pos": [
|
| 188 |
+
817.2430084011467,
|
| 189 |
+
-456.4935981954372,
|
| 190 |
+
-1.3039337404987705
|
| 191 |
+
],
|
| 192 |
+
"type": "go straight",
|
| 193 |
+
"value": 3,
|
| 194 |
+
"yaw": 3.141592653589793
|
| 195 |
+
}
|
| 196 |
+
}
|
| 197 |
+
{
|
| 198 |
+
"action": {
|
| 199 |
+
"imageid": 15,
|
| 200 |
+
"pos": [
|
| 201 |
+
814.2430084011467,
|
| 202 |
+
-456.4935981954372,
|
| 203 |
+
-1.3039337404987705
|
| 204 |
+
],
|
| 205 |
+
"type": "go straight",
|
| 206 |
+
"value": 3,
|
| 207 |
+
"yaw": 3.141592653589793
|
| 208 |
+
}
|
| 209 |
+
}
|
| 210 |
+
{
|
| 211 |
+
"action": {
|
| 212 |
+
"imageid": 16,
|
| 213 |
+
"pos": [
|
| 214 |
+
811.2430084011467,
|
| 215 |
+
-456.4935981954372,
|
| 216 |
+
-1.3039337404987705
|
| 217 |
+
],
|
| 218 |
+
"type": "go straight",
|
| 219 |
+
"value": 3,
|
| 220 |
+
"yaw": 3.141592653589793
|
| 221 |
+
}
|
| 222 |
+
}
|
| 223 |
+
{
|
| 224 |
+
"action": {
|
| 225 |
+
"imageid": 17,
|
| 226 |
+
"pos": [
|
| 227 |
+
808.2430084011467,
|
| 228 |
+
-456.4935981954372,
|
| 229 |
+
-1.3039337404987705
|
| 230 |
+
],
|
| 231 |
+
"type": "go straight",
|
| 232 |
+
"value": 3,
|
| 233 |
+
"yaw": 3.141592653589793
|
| 234 |
+
}
|
| 235 |
+
}
|
| 236 |
+
{
|
| 237 |
+
"action": {
|
| 238 |
+
"imageid": 18,
|
| 239 |
+
"pos": [
|
| 240 |
+
805.2430084011467,
|
| 241 |
+
-456.4935981954372,
|
| 242 |
+
-1.3039337404987705
|
| 243 |
+
],
|
| 244 |
+
"type": "go straight",
|
| 245 |
+
"value": 3,
|
| 246 |
+
"yaw": 3.141592653589793
|
| 247 |
+
}
|
| 248 |
+
}
|
| 249 |
+
{
|
| 250 |
+
"action": {
|
| 251 |
+
"imageid": 19,
|
| 252 |
+
"pos": [
|
| 253 |
+
802.2430084011467,
|
| 254 |
+
-456.4935981954372,
|
| 255 |
+
-1.3039337404987705
|
| 256 |
+
],
|
| 257 |
+
"type": "go straight",
|
| 258 |
+
"value": 3,
|
| 259 |
+
"yaw": 3.141592653589793
|
| 260 |
+
}
|
| 261 |
+
}
|
| 262 |
+
{
|
| 263 |
+
"action": {
|
| 264 |
+
"imageid": 20,
|
| 265 |
+
"pos": [
|
| 266 |
+
799.2430084011467,
|
| 267 |
+
-456.4935981954372,
|
| 268 |
+
-1.3039337404987705
|
| 269 |
+
],
|
| 270 |
+
"type": "go straight",
|
| 271 |
+
"value": 3,
|
| 272 |
+
"yaw": 3.141592653589793
|
| 273 |
+
}
|
| 274 |
+
}
|
| 275 |
+
{
|
| 276 |
+
"action": {
|
| 277 |
+
"imageid": 21,
|
| 278 |
+
"pos": [
|
| 279 |
+
796.2430084011467,
|
| 280 |
+
-456.4935981954372,
|
| 281 |
+
-1.3039337404987705
|
| 282 |
+
],
|
| 283 |
+
"type": "go straight",
|
| 284 |
+
"value": 3,
|
| 285 |
+
"yaw": 3.141592653589793
|
| 286 |
+
}
|
| 287 |
+
}
|
| 288 |
+
{
|
| 289 |
+
"action": {
|
| 290 |
+
"imageid": 22,
|
| 291 |
+
"pos": [
|
| 292 |
+
793.2430084011467,
|
| 293 |
+
-456.4935981954372,
|
| 294 |
+
-1.3039337404987705
|
| 295 |
+
],
|
| 296 |
+
"type": "go straight",
|
| 297 |
+
"value": 3,
|
| 298 |
+
"yaw": 3.141592653589793
|
| 299 |
+
}
|
| 300 |
+
}
|
| 301 |
+
{
|
| 302 |
+
"action": {
|
| 303 |
+
"imageid": 23,
|
| 304 |
+
"pos": [
|
| 305 |
+
790.2430084011467,
|
| 306 |
+
-456.4935981954372,
|
| 307 |
+
-1.3039337404987705
|
| 308 |
+
],
|
| 309 |
+
"type": "go straight",
|
| 310 |
+
"value": 3,
|
| 311 |
+
"yaw": 3.141592653589793
|
| 312 |
+
}
|
| 313 |
+
}
|
| 314 |
+
{
|
| 315 |
+
"action": {
|
| 316 |
+
"imageid": 24,
|
| 317 |
+
"pos": [
|
| 318 |
+
787.2430084011467,
|
| 319 |
+
-456.4935981954372,
|
| 320 |
+
-1.3039337404987705
|
| 321 |
+
],
|
| 322 |
+
"type": "go straight",
|
| 323 |
+
"value": 3,
|
| 324 |
+
"yaw": 3.141592653589793
|
| 325 |
+
}
|
| 326 |
+
}
|
| 327 |
+
{
|
| 328 |
+
"action": {
|
| 329 |
+
"imageid": 25,
|
| 330 |
+
"pos": [
|
| 331 |
+
784.2430084011467,
|
| 332 |
+
-456.4935981954372,
|
| 333 |
+
-1.3039337404987705
|
| 334 |
+
],
|
| 335 |
+
"type": "go straight",
|
| 336 |
+
"value": 3,
|
| 337 |
+
"yaw": 3.141592653589793
|
| 338 |
+
}
|
| 339 |
+
}
|
| 340 |
+
{
|
| 341 |
+
"action": {
|
| 342 |
+
"imageid": 26,
|
| 343 |
+
"pos": [
|
| 344 |
+
781.2430084011467,
|
| 345 |
+
-456.4935981954372,
|
| 346 |
+
-1.3039337404987705
|
| 347 |
+
],
|
| 348 |
+
"type": "go straight",
|
| 349 |
+
"value": 3,
|
| 350 |
+
"yaw": 3.141592653589793
|
| 351 |
+
}
|
| 352 |
+
}
|
| 353 |
+
{
|
| 354 |
+
"action": {
|
| 355 |
+
"imageid": 27,
|
| 356 |
+
"pos": [
|
| 357 |
+
778.2430084011467,
|
| 358 |
+
-456.4935981954372,
|
| 359 |
+
-1.3039337404987705
|
| 360 |
+
],
|
| 361 |
+
"type": "go straight",
|
| 362 |
+
"value": 3,
|
| 363 |
+
"yaw": 3.141592653589793
|
| 364 |
+
}
|
| 365 |
+
}
|
| 366 |
+
{
|
| 367 |
+
"action": {
|
| 368 |
+
"imageid": 28,
|
| 369 |
+
"pos": [
|
| 370 |
+
775.2430084011467,
|
| 371 |
+
-456.4935981954372,
|
| 372 |
+
-1.3039337404987705
|
| 373 |
+
],
|
| 374 |
+
"type": "turn right",
|
| 375 |
+
"value": 30,
|
| 376 |
+
"yaw": 3.141592653589793
|
| 377 |
+
}
|
| 378 |
+
}
|
| 379 |
+
{
|
| 380 |
+
"action": {
|
| 381 |
+
"imageid": 29,
|
| 382 |
+
"pos": [
|
| 383 |
+
775.2430084011467,
|
| 384 |
+
-456.4935981954372,
|
| 385 |
+
-1.3039337404987705
|
| 386 |
+
],
|
| 387 |
+
"type": "turn right",
|
| 388 |
+
"value": 30,
|
| 389 |
+
"yaw": 2.6179938779914944
|
| 390 |
+
}
|
| 391 |
+
}
|
| 392 |
+
{
|
| 393 |
+
"action": {
|
| 394 |
+
"imageid": 30,
|
| 395 |
+
"pos": [
|
| 396 |
+
775.2430084011467,
|
| 397 |
+
-456.4935981954372,
|
| 398 |
+
-1.3039337404987705
|
| 399 |
+
],
|
| 400 |
+
"type": "go straight",
|
| 401 |
+
"value": 3,
|
| 402 |
+
"yaw": 2.0943951023931957
|
| 403 |
+
}
|
| 404 |
+
}
|
| 405 |
+
{
|
| 406 |
+
"action": {
|
| 407 |
+
"imageid": 31,
|
| 408 |
+
"pos": [
|
| 409 |
+
773.7430084011467,
|
| 410 |
+
-453.89552198408387,
|
| 411 |
+
-1.3039337404987705
|
| 412 |
+
],
|
| 413 |
+
"type": "go straight",
|
| 414 |
+
"value": 3,
|
| 415 |
+
"yaw": 2.0943951023931953
|
| 416 |
+
}
|
| 417 |
+
}
|
| 418 |
+
{
|
| 419 |
+
"action": {
|
| 420 |
+
"imageid": 32,
|
| 421 |
+
"pos": [
|
| 422 |
+
772.2430084011467,
|
| 423 |
+
-451.29744577273055,
|
| 424 |
+
-1.3039337404987705
|
| 425 |
+
],
|
| 426 |
+
"type": "stop",
|
| 427 |
+
"value": 0,
|
| 428 |
+
"yaw": 2.0943951023931953
|
| 429 |
+
}
|
| 430 |
+
}
|
| 431 |
+
{
|
| 432 |
+
"aim_landmark": {
|
| 433 |
+
"color": "test",
|
| 434 |
+
"feature": "test",
|
| 435 |
+
"position": [
|
| 436 |
+
770.3367736816407,
|
| 437 |
+
-451.65129089355474,
|
| 438 |
+
0.0
|
| 439 |
+
],
|
| 440 |
+
"shape": "test",
|
| 441 |
+
"size": "test",
|
| 442 |
+
"type": "building"
|
| 443 |
+
}
|
| 444 |
+
}
|
Image/env_gs_nwpu02/astar_data/long/2025-1-16_14-55-36_805750846/pose.jsonl
ADDED
|
@@ -0,0 +1,574 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
1244.4676076147223,
|
| 6 |
+
-274.7769772528577,
|
| 7 |
+
1.1238157635246306
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 1.0471975511965979
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
1245.9676076147223,
|
| 19 |
+
-272.1789010415044,
|
| 20 |
+
1.1238157635246306
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 1.0471975511965979
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
1247.4676076147223,
|
| 32 |
+
-269.5808248301511,
|
| 33 |
+
1.1238157635246306
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 1.0471975511965979
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
1248.9676076147223,
|
| 45 |
+
-266.98274861879776,
|
| 46 |
+
1.1238157635246306
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 1.0471975511965979
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
1250.4676076147223,
|
| 58 |
+
-264.38467240744444,
|
| 59 |
+
1.1238157635246306
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 1.0471975511965979
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
1251.9676076147223,
|
| 71 |
+
-261.7865961960911,
|
| 72 |
+
1.1238157635246306
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 1.0471975511965979
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
1253.4676076147223,
|
| 84 |
+
-259.1885199847378,
|
| 85 |
+
1.1238157635246306
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 1.0471975511965979
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
1254.9676076147223,
|
| 97 |
+
-256.5904437733845,
|
| 98 |
+
1.1238157635246306
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 1.0471975511965979
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
1256.4676076147223,
|
| 110 |
+
-253.99236756203118,
|
| 111 |
+
1.1238157635246306
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 1.0471975511965979
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
1257.9676076147223,
|
| 123 |
+
-251.39429135067786,
|
| 124 |
+
1.1238157635246306
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 1.0471975511965979
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
1259.4676076147223,
|
| 136 |
+
-248.79621513932454,
|
| 137 |
+
1.1238157635246306
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 1.0471975511965979
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
1260.9676076147223,
|
| 149 |
+
-246.19813892797123,
|
| 150 |
+
1.1238157635246306
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 1.0471975511965979
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
1262.4676076147223,
|
| 162 |
+
-243.6000627166179,
|
| 163 |
+
1.1238157635246306
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 1.0471975511965979
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
1263.9676076147223,
|
| 175 |
+
-241.0019865052646,
|
| 176 |
+
1.1238157635246306
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 1.0471975511965979
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
1265.4676076147223,
|
| 188 |
+
-238.40391029391128,
|
| 189 |
+
1.1238157635246306
|
| 190 |
+
],
|
| 191 |
+
"type": "turn right",
|
| 192 |
+
"value": 30,
|
| 193 |
+
"yaw": 1.0471975511965979
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
1265.4676076147223,
|
| 201 |
+
-238.40391029391128,
|
| 202 |
+
1.1238157635246306
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 0.523598775598299
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
1268.0656838260757,
|
| 214 |
+
-236.90391029391128,
|
| 215 |
+
1.1238157635246306
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 0.5235987755982894
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"aim_landmark": {
|
| 224 |
+
"color": "test",
|
| 225 |
+
"feature": "test",
|
| 226 |
+
"position": [
|
| 227 |
+
1273.901252746582,
|
| 228 |
+
-233.9151123046875,
|
| 229 |
+
0.0
|
| 230 |
+
],
|
| 231 |
+
"shape": "test",
|
| 232 |
+
"size": "test",
|
| 233 |
+
"type": "building"
|
| 234 |
+
}
|
| 235 |
+
}
|
| 236 |
+
{
|
| 237 |
+
"action": {
|
| 238 |
+
"imageid": 18,
|
| 239 |
+
"pos": [
|
| 240 |
+
1270.663760037429,
|
| 241 |
+
-235.40391029391128,
|
| 242 |
+
1.1238157635246306
|
| 243 |
+
],
|
| 244 |
+
"type": "turn right",
|
| 245 |
+
"value": 30,
|
| 246 |
+
"yaw": 0.5235987755982894
|
| 247 |
+
}
|
| 248 |
+
}
|
| 249 |
+
{
|
| 250 |
+
"action": {
|
| 251 |
+
"imageid": 19,
|
| 252 |
+
"pos": [
|
| 253 |
+
1270.663760037429,
|
| 254 |
+
-235.40391029391128,
|
| 255 |
+
1.1238157635246306
|
| 256 |
+
],
|
| 257 |
+
"type": "go straight",
|
| 258 |
+
"value": 3,
|
| 259 |
+
"yaw": 0.0
|
| 260 |
+
}
|
| 261 |
+
}
|
| 262 |
+
{
|
| 263 |
+
"action": {
|
| 264 |
+
"imageid": 20,
|
| 265 |
+
"pos": [
|
| 266 |
+
1273.663760037429,
|
| 267 |
+
-235.40391029391128,
|
| 268 |
+
1.1238157635246306
|
| 269 |
+
],
|
| 270 |
+
"type": "go straight",
|
| 271 |
+
"value": 3,
|
| 272 |
+
"yaw": 0.0
|
| 273 |
+
}
|
| 274 |
+
}
|
| 275 |
+
{
|
| 276 |
+
"action": {
|
| 277 |
+
"imageid": 21,
|
| 278 |
+
"pos": [
|
| 279 |
+
1276.663760037429,
|
| 280 |
+
-235.40391029391128,
|
| 281 |
+
1.1238157635246306
|
| 282 |
+
],
|
| 283 |
+
"type": "go straight",
|
| 284 |
+
"value": 3,
|
| 285 |
+
"yaw": 0.0
|
| 286 |
+
}
|
| 287 |
+
}
|
| 288 |
+
{
|
| 289 |
+
"action": {
|
| 290 |
+
"imageid": 22,
|
| 291 |
+
"pos": [
|
| 292 |
+
1279.663760037429,
|
| 293 |
+
-235.40391029391128,
|
| 294 |
+
1.1238157635246306
|
| 295 |
+
],
|
| 296 |
+
"type": "go straight",
|
| 297 |
+
"value": 3,
|
| 298 |
+
"yaw": 0.0
|
| 299 |
+
}
|
| 300 |
+
}
|
| 301 |
+
{
|
| 302 |
+
"action": {
|
| 303 |
+
"imageid": 23,
|
| 304 |
+
"pos": [
|
| 305 |
+
1282.663760037429,
|
| 306 |
+
-235.40391029391128,
|
| 307 |
+
1.1238157635246306
|
| 308 |
+
],
|
| 309 |
+
"type": "go straight",
|
| 310 |
+
"value": 3,
|
| 311 |
+
"yaw": 0.0
|
| 312 |
+
}
|
| 313 |
+
}
|
| 314 |
+
{
|
| 315 |
+
"action": {
|
| 316 |
+
"imageid": 24,
|
| 317 |
+
"pos": [
|
| 318 |
+
1285.663760037429,
|
| 319 |
+
-235.40391029391128,
|
| 320 |
+
1.1238157635246306
|
| 321 |
+
],
|
| 322 |
+
"type": "go straight",
|
| 323 |
+
"value": 3,
|
| 324 |
+
"yaw": 0.0
|
| 325 |
+
}
|
| 326 |
+
}
|
| 327 |
+
{
|
| 328 |
+
"action": {
|
| 329 |
+
"imageid": 25,
|
| 330 |
+
"pos": [
|
| 331 |
+
1288.663760037429,
|
| 332 |
+
-235.40391029391128,
|
| 333 |
+
1.1238157635246306
|
| 334 |
+
],
|
| 335 |
+
"type": "go straight",
|
| 336 |
+
"value": 3,
|
| 337 |
+
"yaw": 0.0
|
| 338 |
+
}
|
| 339 |
+
}
|
| 340 |
+
{
|
| 341 |
+
"action": {
|
| 342 |
+
"imageid": 26,
|
| 343 |
+
"pos": [
|
| 344 |
+
1291.663760037429,
|
| 345 |
+
-235.40391029391128,
|
| 346 |
+
1.1238157635246306
|
| 347 |
+
],
|
| 348 |
+
"type": "go straight",
|
| 349 |
+
"value": 3,
|
| 350 |
+
"yaw": 0.0
|
| 351 |
+
}
|
| 352 |
+
}
|
| 353 |
+
{
|
| 354 |
+
"action": {
|
| 355 |
+
"imageid": 27,
|
| 356 |
+
"pos": [
|
| 357 |
+
1294.663760037429,
|
| 358 |
+
-235.40391029391128,
|
| 359 |
+
1.1238157635246306
|
| 360 |
+
],
|
| 361 |
+
"type": "go straight",
|
| 362 |
+
"value": 3,
|
| 363 |
+
"yaw": 0.0
|
| 364 |
+
}
|
| 365 |
+
}
|
| 366 |
+
{
|
| 367 |
+
"action": {
|
| 368 |
+
"imageid": 28,
|
| 369 |
+
"pos": [
|
| 370 |
+
1297.663760037429,
|
| 371 |
+
-235.40391029391128,
|
| 372 |
+
1.1238157635246306
|
| 373 |
+
],
|
| 374 |
+
"type": "go straight",
|
| 375 |
+
"value": 3,
|
| 376 |
+
"yaw": 0.0
|
| 377 |
+
}
|
| 378 |
+
}
|
| 379 |
+
{
|
| 380 |
+
"action": {
|
| 381 |
+
"imageid": 29,
|
| 382 |
+
"pos": [
|
| 383 |
+
1300.663760037429,
|
| 384 |
+
-235.40391029391128,
|
| 385 |
+
1.1238157635246306
|
| 386 |
+
],
|
| 387 |
+
"type": "go straight",
|
| 388 |
+
"value": 3,
|
| 389 |
+
"yaw": 0.0
|
| 390 |
+
}
|
| 391 |
+
}
|
| 392 |
+
{
|
| 393 |
+
"action": {
|
| 394 |
+
"imageid": 30,
|
| 395 |
+
"pos": [
|
| 396 |
+
1303.663760037429,
|
| 397 |
+
-235.40391029391128,
|
| 398 |
+
1.1238157635246306
|
| 399 |
+
],
|
| 400 |
+
"type": "go straight",
|
| 401 |
+
"value": 3,
|
| 402 |
+
"yaw": 0.0
|
| 403 |
+
}
|
| 404 |
+
}
|
| 405 |
+
{
|
| 406 |
+
"action": {
|
| 407 |
+
"imageid": 31,
|
| 408 |
+
"pos": [
|
| 409 |
+
1306.663760037429,
|
| 410 |
+
-235.40391029391128,
|
| 411 |
+
1.1238157635246306
|
| 412 |
+
],
|
| 413 |
+
"type": "go straight",
|
| 414 |
+
"value": 3,
|
| 415 |
+
"yaw": 0.0
|
| 416 |
+
}
|
| 417 |
+
}
|
| 418 |
+
{
|
| 419 |
+
"action": {
|
| 420 |
+
"imageid": 32,
|
| 421 |
+
"pos": [
|
| 422 |
+
1309.663760037429,
|
| 423 |
+
-235.40391029391128,
|
| 424 |
+
1.1238157635246306
|
| 425 |
+
],
|
| 426 |
+
"type": "go straight",
|
| 427 |
+
"value": 3,
|
| 428 |
+
"yaw": 0.0
|
| 429 |
+
}
|
| 430 |
+
}
|
| 431 |
+
{
|
| 432 |
+
"action": {
|
| 433 |
+
"imageid": 33,
|
| 434 |
+
"pos": [
|
| 435 |
+
1312.663760037429,
|
| 436 |
+
-235.40391029391128,
|
| 437 |
+
1.1238157635246306
|
| 438 |
+
],
|
| 439 |
+
"type": "go straight",
|
| 440 |
+
"value": 3,
|
| 441 |
+
"yaw": 0.0
|
| 442 |
+
}
|
| 443 |
+
}
|
| 444 |
+
{
|
| 445 |
+
"action": {
|
| 446 |
+
"imageid": 34,
|
| 447 |
+
"pos": [
|
| 448 |
+
1315.663760037429,
|
| 449 |
+
-235.40391029391128,
|
| 450 |
+
1.1238157635246306
|
| 451 |
+
],
|
| 452 |
+
"type": "go straight",
|
| 453 |
+
"value": 3,
|
| 454 |
+
"yaw": 0.0
|
| 455 |
+
}
|
| 456 |
+
}
|
| 457 |
+
{
|
| 458 |
+
"action": {
|
| 459 |
+
"imageid": 35,
|
| 460 |
+
"pos": [
|
| 461 |
+
1318.663760037429,
|
| 462 |
+
-235.40391029391128,
|
| 463 |
+
1.1238157635246306
|
| 464 |
+
],
|
| 465 |
+
"type": "go straight",
|
| 466 |
+
"value": 3,
|
| 467 |
+
"yaw": 0.0
|
| 468 |
+
}
|
| 469 |
+
}
|
| 470 |
+
{
|
| 471 |
+
"action": {
|
| 472 |
+
"imageid": 36,
|
| 473 |
+
"pos": [
|
| 474 |
+
1321.663760037429,
|
| 475 |
+
-235.40391029391128,
|
| 476 |
+
1.1238157635246306
|
| 477 |
+
],
|
| 478 |
+
"type": "go straight",
|
| 479 |
+
"value": 3,
|
| 480 |
+
"yaw": 0.0
|
| 481 |
+
}
|
| 482 |
+
}
|
| 483 |
+
{
|
| 484 |
+
"action": {
|
| 485 |
+
"imageid": 37,
|
| 486 |
+
"pos": [
|
| 487 |
+
1324.663760037429,
|
| 488 |
+
-235.40391029391128,
|
| 489 |
+
1.1238157635246306
|
| 490 |
+
],
|
| 491 |
+
"type": "go straight",
|
| 492 |
+
"value": 3,
|
| 493 |
+
"yaw": 0.0
|
| 494 |
+
}
|
| 495 |
+
}
|
| 496 |
+
{
|
| 497 |
+
"action": {
|
| 498 |
+
"imageid": 38,
|
| 499 |
+
"pos": [
|
| 500 |
+
1327.663760037429,
|
| 501 |
+
-235.40391029391128,
|
| 502 |
+
1.1238157635246306
|
| 503 |
+
],
|
| 504 |
+
"type": "turn left",
|
| 505 |
+
"value": 30,
|
| 506 |
+
"yaw": 0.0
|
| 507 |
+
}
|
| 508 |
+
}
|
| 509 |
+
{
|
| 510 |
+
"action": {
|
| 511 |
+
"imageid": 39,
|
| 512 |
+
"pos": [
|
| 513 |
+
1327.663760037429,
|
| 514 |
+
-235.40391029391128,
|
| 515 |
+
1.1238157635246306
|
| 516 |
+
],
|
| 517 |
+
"type": "turn left",
|
| 518 |
+
"value": 30,
|
| 519 |
+
"yaw": 0.5235987755982988
|
| 520 |
+
}
|
| 521 |
+
}
|
| 522 |
+
{
|
| 523 |
+
"action": {
|
| 524 |
+
"imageid": 40,
|
| 525 |
+
"pos": [
|
| 526 |
+
1327.663760037429,
|
| 527 |
+
-235.40391029391128,
|
| 528 |
+
1.1238157635246306
|
| 529 |
+
],
|
| 530 |
+
"type": "go straight",
|
| 531 |
+
"value": 3,
|
| 532 |
+
"yaw": 1.0471975511965976
|
| 533 |
+
}
|
| 534 |
+
}
|
| 535 |
+
{
|
| 536 |
+
"action": {
|
| 537 |
+
"imageid": 41,
|
| 538 |
+
"pos": [
|
| 539 |
+
1329.163760037429,
|
| 540 |
+
-232.80583408255796,
|
| 541 |
+
1.1238157635246306
|
| 542 |
+
],
|
| 543 |
+
"type": "go straight",
|
| 544 |
+
"value": 3,
|
| 545 |
+
"yaw": 1.0471975511965979
|
| 546 |
+
}
|
| 547 |
+
}
|
| 548 |
+
{
|
| 549 |
+
"action": {
|
| 550 |
+
"imageid": 42,
|
| 551 |
+
"pos": [
|
| 552 |
+
1330.663760037429,
|
| 553 |
+
-230.20775787120465,
|
| 554 |
+
1.1238157635246306
|
| 555 |
+
],
|
| 556 |
+
"type": "stop",
|
| 557 |
+
"value": 0,
|
| 558 |
+
"yaw": 1.0471975511965979
|
| 559 |
+
}
|
| 560 |
+
}
|
| 561 |
+
{
|
| 562 |
+
"aim_landmark": {
|
| 563 |
+
"color": "test",
|
| 564 |
+
"feature": "test",
|
| 565 |
+
"position": [
|
| 566 |
+
1332.318264770508,
|
| 567 |
+
-228.70366058349612,
|
| 568 |
+
0.0
|
| 569 |
+
],
|
| 570 |
+
"shape": "test",
|
| 571 |
+
"size": "test",
|
| 572 |
+
"type": "building"
|
| 573 |
+
}
|
| 574 |
+
}
|
Image/env_gs_nwpu02/astar_data/long/2025-1-16_14-56-46_1433925857/pose.jsonl
ADDED
|
@@ -0,0 +1,600 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
43.44012439708638,
|
| 6 |
+
-24.279121448703968,
|
| 7 |
+
1.3741717076157691
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -2.0943951023931953
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
41.94012439708638,
|
| 19 |
+
-26.877197660057284,
|
| 20 |
+
1.3741717076157691
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -2.0943951023931953
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
40.44012439708638,
|
| 32 |
+
-29.4752738714106,
|
| 33 |
+
1.3741717076157691
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -2.0943951023931953
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
38.94012439708638,
|
| 45 |
+
-32.073350082763916,
|
| 46 |
+
1.3741717076157691
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -2.0943951023931953
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
37.44012439708638,
|
| 58 |
+
-34.67142629411723,
|
| 59 |
+
1.3741717076157691
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -2.0943951023931953
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
35.94012439708638,
|
| 71 |
+
-37.26950250547055,
|
| 72 |
+
1.3741717076157691
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -2.0943951023931953
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
34.44012439708638,
|
| 84 |
+
-39.867578716823864,
|
| 85 |
+
1.3741717076157691
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -2.0943951023931953
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
32.94012439708638,
|
| 97 |
+
-42.46565492817718,
|
| 98 |
+
1.3741717076157691
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -2.0943951023931953
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
31.44012439708638,
|
| 110 |
+
-45.063731139530496,
|
| 111 |
+
1.3741717076157691
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -2.0943951023931953
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
29.94012439708638,
|
| 123 |
+
-47.66180735088381,
|
| 124 |
+
1.3741717076157691
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -2.0943951023931953
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
28.44012439708638,
|
| 136 |
+
-50.25988356223713,
|
| 137 |
+
1.3741717076157691
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -2.0943951023931953
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
26.94012439708638,
|
| 149 |
+
-52.857959773590444,
|
| 150 |
+
1.3741717076157691
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -2.0943951023931953
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
25.44012439708638,
|
| 162 |
+
-55.45603598494376,
|
| 163 |
+
1.3741717076157691
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -2.0943951023931953
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
23.94012439708638,
|
| 175 |
+
-58.054112196297076,
|
| 176 |
+
1.3741717076157691
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -2.0943951023931953
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
22.44012439708638,
|
| 188 |
+
-60.65218840765039,
|
| 189 |
+
1.3741717076157691
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -2.0943951023931953
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
20.94012439708638,
|
| 201 |
+
-63.25026461900371,
|
| 202 |
+
1.3741717076157691
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -2.0943951023931953
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
19.44012439708638,
|
| 214 |
+
-65.84834083035702,
|
| 215 |
+
1.3741717076157691
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -2.0943951023931966
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
17.94012439708638,
|
| 227 |
+
-68.44641704171033,
|
| 228 |
+
1.3741717076157691
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": -2.0943951023931953
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"aim_landmark": {
|
| 237 |
+
"color": "test",
|
| 238 |
+
"feature": "test",
|
| 239 |
+
"position": [
|
| 240 |
+
17.12450046539307,
|
| 241 |
+
-73.06071357727052,
|
| 242 |
+
0.0
|
| 243 |
+
],
|
| 244 |
+
"shape": "test",
|
| 245 |
+
"size": "test",
|
| 246 |
+
"type": "building"
|
| 247 |
+
}
|
| 248 |
+
}
|
| 249 |
+
{
|
| 250 |
+
"action": {
|
| 251 |
+
"imageid": 19,
|
| 252 |
+
"pos": [
|
| 253 |
+
16.44012439708638,
|
| 254 |
+
-71.04449325306365,
|
| 255 |
+
1.3741717076157691
|
| 256 |
+
],
|
| 257 |
+
"type": "turn left",
|
| 258 |
+
"value": 30,
|
| 259 |
+
"yaw": -2.0943951023931953
|
| 260 |
+
}
|
| 261 |
+
}
|
| 262 |
+
{
|
| 263 |
+
"action": {
|
| 264 |
+
"imageid": 20,
|
| 265 |
+
"pos": [
|
| 266 |
+
16.44012439708638,
|
| 267 |
+
-71.04449325306365,
|
| 268 |
+
1.3741717076157691
|
| 269 |
+
],
|
| 270 |
+
"type": "turn left",
|
| 271 |
+
"value": 30,
|
| 272 |
+
"yaw": -1.5707963267948966
|
| 273 |
+
}
|
| 274 |
+
}
|
| 275 |
+
{
|
| 276 |
+
"action": {
|
| 277 |
+
"imageid": 21,
|
| 278 |
+
"pos": [
|
| 279 |
+
16.44012439708638,
|
| 280 |
+
-71.04449325306365,
|
| 281 |
+
1.3741717076157691
|
| 282 |
+
],
|
| 283 |
+
"type": "turn left",
|
| 284 |
+
"value": 30,
|
| 285 |
+
"yaw": -1.0471975511965976
|
| 286 |
+
}
|
| 287 |
+
}
|
| 288 |
+
{
|
| 289 |
+
"action": {
|
| 290 |
+
"imageid": 22,
|
| 291 |
+
"pos": [
|
| 292 |
+
16.44012439708638,
|
| 293 |
+
-71.04449325306365,
|
| 294 |
+
1.3741717076157691
|
| 295 |
+
],
|
| 296 |
+
"type": "turn left",
|
| 297 |
+
"value": 30,
|
| 298 |
+
"yaw": -0.5235987755982987
|
| 299 |
+
}
|
| 300 |
+
}
|
| 301 |
+
{
|
| 302 |
+
"action": {
|
| 303 |
+
"imageid": 23,
|
| 304 |
+
"pos": [
|
| 305 |
+
16.44012439708638,
|
| 306 |
+
-71.04449325306365,
|
| 307 |
+
1.3741717076157691
|
| 308 |
+
],
|
| 309 |
+
"type": "turn left",
|
| 310 |
+
"value": 30,
|
| 311 |
+
"yaw": 0.0
|
| 312 |
+
}
|
| 313 |
+
}
|
| 314 |
+
{
|
| 315 |
+
"action": {
|
| 316 |
+
"imageid": 24,
|
| 317 |
+
"pos": [
|
| 318 |
+
16.44012439708638,
|
| 319 |
+
-71.04449325306365,
|
| 320 |
+
1.3741717076157691
|
| 321 |
+
],
|
| 322 |
+
"type": "go straight",
|
| 323 |
+
"value": 3,
|
| 324 |
+
"yaw": 0.0
|
| 325 |
+
}
|
| 326 |
+
}
|
| 327 |
+
{
|
| 328 |
+
"action": {
|
| 329 |
+
"imageid": 25,
|
| 330 |
+
"pos": [
|
| 331 |
+
19.44012439708638,
|
| 332 |
+
-71.04449325306365,
|
| 333 |
+
1.3741717076157691
|
| 334 |
+
],
|
| 335 |
+
"type": "go straight",
|
| 336 |
+
"value": 3,
|
| 337 |
+
"yaw": 0.0
|
| 338 |
+
}
|
| 339 |
+
}
|
| 340 |
+
{
|
| 341 |
+
"action": {
|
| 342 |
+
"imageid": 26,
|
| 343 |
+
"pos": [
|
| 344 |
+
22.44012439708638,
|
| 345 |
+
-71.04449325306365,
|
| 346 |
+
1.3741717076157691
|
| 347 |
+
],
|
| 348 |
+
"type": "go straight",
|
| 349 |
+
"value": 3,
|
| 350 |
+
"yaw": 0.0
|
| 351 |
+
}
|
| 352 |
+
}
|
| 353 |
+
{
|
| 354 |
+
"action": {
|
| 355 |
+
"imageid": 27,
|
| 356 |
+
"pos": [
|
| 357 |
+
25.44012439708638,
|
| 358 |
+
-71.04449325306365,
|
| 359 |
+
1.3741717076157691
|
| 360 |
+
],
|
| 361 |
+
"type": "go straight",
|
| 362 |
+
"value": 3,
|
| 363 |
+
"yaw": 0.0
|
| 364 |
+
}
|
| 365 |
+
}
|
| 366 |
+
{
|
| 367 |
+
"action": {
|
| 368 |
+
"imageid": 28,
|
| 369 |
+
"pos": [
|
| 370 |
+
28.44012439708638,
|
| 371 |
+
-71.04449325306365,
|
| 372 |
+
1.3741717076157691
|
| 373 |
+
],
|
| 374 |
+
"type": "go straight",
|
| 375 |
+
"value": 3,
|
| 376 |
+
"yaw": 0.0
|
| 377 |
+
}
|
| 378 |
+
}
|
| 379 |
+
{
|
| 380 |
+
"action": {
|
| 381 |
+
"imageid": 29,
|
| 382 |
+
"pos": [
|
| 383 |
+
31.44012439708638,
|
| 384 |
+
-71.04449325306365,
|
| 385 |
+
1.3741717076157691
|
| 386 |
+
],
|
| 387 |
+
"type": "go straight",
|
| 388 |
+
"value": 3,
|
| 389 |
+
"yaw": 0.0
|
| 390 |
+
}
|
| 391 |
+
}
|
| 392 |
+
{
|
| 393 |
+
"action": {
|
| 394 |
+
"imageid": 30,
|
| 395 |
+
"pos": [
|
| 396 |
+
34.44012439708638,
|
| 397 |
+
-71.04449325306365,
|
| 398 |
+
1.3741717076157691
|
| 399 |
+
],
|
| 400 |
+
"type": "go straight",
|
| 401 |
+
"value": 3,
|
| 402 |
+
"yaw": 0.0
|
| 403 |
+
}
|
| 404 |
+
}
|
| 405 |
+
{
|
| 406 |
+
"action": {
|
| 407 |
+
"imageid": 31,
|
| 408 |
+
"pos": [
|
| 409 |
+
37.44012439708638,
|
| 410 |
+
-71.04449325306365,
|
| 411 |
+
1.3741717076157691
|
| 412 |
+
],
|
| 413 |
+
"type": "go straight",
|
| 414 |
+
"value": 3,
|
| 415 |
+
"yaw": 0.0
|
| 416 |
+
}
|
| 417 |
+
}
|
| 418 |
+
{
|
| 419 |
+
"action": {
|
| 420 |
+
"imageid": 32,
|
| 421 |
+
"pos": [
|
| 422 |
+
40.44012439708638,
|
| 423 |
+
-71.04449325306365,
|
| 424 |
+
1.3741717076157691
|
| 425 |
+
],
|
| 426 |
+
"type": "turn left",
|
| 427 |
+
"value": 30,
|
| 428 |
+
"yaw": 0.0
|
| 429 |
+
}
|
| 430 |
+
}
|
| 431 |
+
{
|
| 432 |
+
"action": {
|
| 433 |
+
"imageid": 33,
|
| 434 |
+
"pos": [
|
| 435 |
+
40.44012439708638,
|
| 436 |
+
-71.04449325306365,
|
| 437 |
+
1.3741717076157691
|
| 438 |
+
],
|
| 439 |
+
"type": "go straight",
|
| 440 |
+
"value": 3,
|
| 441 |
+
"yaw": 0.5235987755982988
|
| 442 |
+
}
|
| 443 |
+
}
|
| 444 |
+
{
|
| 445 |
+
"action": {
|
| 446 |
+
"imageid": 34,
|
| 447 |
+
"pos": [
|
| 448 |
+
43.038200608439695,
|
| 449 |
+
-69.54449325306365,
|
| 450 |
+
1.3741717076157691
|
| 451 |
+
],
|
| 452 |
+
"type": "go straight",
|
| 453 |
+
"value": 3,
|
| 454 |
+
"yaw": 0.5235987755982988
|
| 455 |
+
}
|
| 456 |
+
}
|
| 457 |
+
{
|
| 458 |
+
"action": {
|
| 459 |
+
"imageid": 35,
|
| 460 |
+
"pos": [
|
| 461 |
+
45.63627681979301,
|
| 462 |
+
-68.04449325306365,
|
| 463 |
+
1.3741717076157691
|
| 464 |
+
],
|
| 465 |
+
"type": "go straight",
|
| 466 |
+
"value": 3,
|
| 467 |
+
"yaw": 0.5235987755982988
|
| 468 |
+
}
|
| 469 |
+
}
|
| 470 |
+
{
|
| 471 |
+
"action": {
|
| 472 |
+
"imageid": 36,
|
| 473 |
+
"pos": [
|
| 474 |
+
48.23435303114633,
|
| 475 |
+
-66.54449325306365,
|
| 476 |
+
1.3741717076157691
|
| 477 |
+
],
|
| 478 |
+
"type": "go straight",
|
| 479 |
+
"value": 3,
|
| 480 |
+
"yaw": 0.5235987755982988
|
| 481 |
+
}
|
| 482 |
+
}
|
| 483 |
+
{
|
| 484 |
+
"action": {
|
| 485 |
+
"imageid": 37,
|
| 486 |
+
"pos": [
|
| 487 |
+
50.83242924249964,
|
| 488 |
+
-65.04449325306365,
|
| 489 |
+
1.3741717076157691
|
| 490 |
+
],
|
| 491 |
+
"type": "go straight",
|
| 492 |
+
"value": 3,
|
| 493 |
+
"yaw": 0.5235987755982988
|
| 494 |
+
}
|
| 495 |
+
}
|
| 496 |
+
{
|
| 497 |
+
"action": {
|
| 498 |
+
"imageid": 38,
|
| 499 |
+
"pos": [
|
| 500 |
+
53.43050545385296,
|
| 501 |
+
-63.54449325306365,
|
| 502 |
+
1.3741717076157691
|
| 503 |
+
],
|
| 504 |
+
"type": "go straight",
|
| 505 |
+
"value": 3,
|
| 506 |
+
"yaw": 0.5235987755982988
|
| 507 |
+
}
|
| 508 |
+
}
|
| 509 |
+
{
|
| 510 |
+
"action": {
|
| 511 |
+
"imageid": 39,
|
| 512 |
+
"pos": [
|
| 513 |
+
56.028581665206275,
|
| 514 |
+
-62.04449325306365,
|
| 515 |
+
1.3741717076157691
|
| 516 |
+
],
|
| 517 |
+
"type": "go straight",
|
| 518 |
+
"value": 3,
|
| 519 |
+
"yaw": 0.5235987755982988
|
| 520 |
+
}
|
| 521 |
+
}
|
| 522 |
+
{
|
| 523 |
+
"action": {
|
| 524 |
+
"imageid": 40,
|
| 525 |
+
"pos": [
|
| 526 |
+
58.62665787655959,
|
| 527 |
+
-60.54449325306365,
|
| 528 |
+
1.3741717076157691
|
| 529 |
+
],
|
| 530 |
+
"type": "go straight",
|
| 531 |
+
"value": 3,
|
| 532 |
+
"yaw": 0.5235987755982988
|
| 533 |
+
}
|
| 534 |
+
}
|
| 535 |
+
{
|
| 536 |
+
"action": {
|
| 537 |
+
"imageid": 41,
|
| 538 |
+
"pos": [
|
| 539 |
+
61.22473408791291,
|
| 540 |
+
-59.04449325306365,
|
| 541 |
+
1.3741717076157691
|
| 542 |
+
],
|
| 543 |
+
"type": "go straight",
|
| 544 |
+
"value": 3,
|
| 545 |
+
"yaw": 0.5235987755982988
|
| 546 |
+
}
|
| 547 |
+
}
|
| 548 |
+
{
|
| 549 |
+
"action": {
|
| 550 |
+
"imageid": 42,
|
| 551 |
+
"pos": [
|
| 552 |
+
63.82281029926622,
|
| 553 |
+
-57.54449325306365,
|
| 554 |
+
1.3741717076157691
|
| 555 |
+
],
|
| 556 |
+
"type": "turn right",
|
| 557 |
+
"value": 30,
|
| 558 |
+
"yaw": 0.5235987755982988
|
| 559 |
+
}
|
| 560 |
+
}
|
| 561 |
+
{
|
| 562 |
+
"action": {
|
| 563 |
+
"imageid": 43,
|
| 564 |
+
"pos": [
|
| 565 |
+
63.82281029926622,
|
| 566 |
+
-57.54449325306365,
|
| 567 |
+
1.3741717076157691
|
| 568 |
+
],
|
| 569 |
+
"type": "go straight",
|
| 570 |
+
"value": 3,
|
| 571 |
+
"yaw": 0.0
|
| 572 |
+
}
|
| 573 |
+
}
|
| 574 |
+
{
|
| 575 |
+
"action": {
|
| 576 |
+
"imageid": 44,
|
| 577 |
+
"pos": [
|
| 578 |
+
66.82281029926622,
|
| 579 |
+
-57.54449325306365,
|
| 580 |
+
1.3741717076157691
|
| 581 |
+
],
|
| 582 |
+
"type": "stop",
|
| 583 |
+
"value": 0,
|
| 584 |
+
"yaw": 0.0
|
| 585 |
+
}
|
| 586 |
+
}
|
| 587 |
+
{
|
| 588 |
+
"aim_landmark": {
|
| 589 |
+
"color": "test",
|
| 590 |
+
"feature": "test",
|
| 591 |
+
"position": [
|
| 592 |
+
70.69211120605469,
|
| 593 |
+
-56.732511901855474,
|
| 594 |
+
0.0
|
| 595 |
+
],
|
| 596 |
+
"shape": "test",
|
| 597 |
+
"size": "test",
|
| 598 |
+
"type": "building"
|
| 599 |
+
}
|
| 600 |
+
}
|
Image/env_gs_nwpu02/astar_data/long/2025-1-16_14-57-10_1141616124/pose.jsonl
ADDED
|
@@ -0,0 +1,782 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
1209.6491426369444,
|
| 6 |
+
223.96338870855033,
|
| 7 |
+
-2.409149150061289
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -0.5235987755982894
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
1212.2472188482977,
|
| 19 |
+
222.46338870855033,
|
| 20 |
+
-2.409149150061289
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -0.5235987755982894
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
1214.845295059651,
|
| 32 |
+
220.96338870855033,
|
| 33 |
+
-2.409149150061289
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -0.5235987755982894
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
1217.4433712710045,
|
| 45 |
+
219.46338870855033,
|
| 46 |
+
-2.409149150061289
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -0.5235987755982894
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
1220.0414474823579,
|
| 58 |
+
217.96338870855033,
|
| 59 |
+
-2.409149150061289
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -0.5235987755982894
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
1222.6395236937112,
|
| 71 |
+
216.46338870855033,
|
| 72 |
+
-2.409149150061289
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -0.5235987755982894
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
1225.2375999050646,
|
| 84 |
+
214.96338870855033,
|
| 85 |
+
-2.409149150061289
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -0.5235987755982894
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
1227.835676116418,
|
| 97 |
+
213.46338870855033,
|
| 98 |
+
-2.409149150061289
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -0.5235987755982894
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
1230.4337523277713,
|
| 110 |
+
211.96338870855033,
|
| 111 |
+
-2.409149150061289
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -0.5235987755982894
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
1233.0318285391247,
|
| 123 |
+
210.46338870855033,
|
| 124 |
+
-2.409149150061289
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -0.5235987755982894
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
1235.629904750478,
|
| 136 |
+
208.96338870855033,
|
| 137 |
+
-2.409149150061289
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -0.5235987755982894
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
1238.2279809618315,
|
| 149 |
+
207.46338870855033,
|
| 150 |
+
-2.409149150061289
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -0.5235987755982894
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
1240.8260571731848,
|
| 162 |
+
205.96338870855033,
|
| 163 |
+
-2.409149150061289
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -0.5235987755982894
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
1243.4241333845382,
|
| 175 |
+
204.46338870855033,
|
| 176 |
+
-2.409149150061289
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -0.5235987755982894
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
1246.0222095958916,
|
| 188 |
+
202.96338870855033,
|
| 189 |
+
-2.409149150061289
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -0.5235987755982894
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
1248.620285807245,
|
| 201 |
+
201.46338870855033,
|
| 202 |
+
-2.409149150061289
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -0.5235987755982894
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
1251.2183620185983,
|
| 214 |
+
199.96338870855033,
|
| 215 |
+
-2.409149150061289
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -0.5235987755982894
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
1253.8164382299517,
|
| 227 |
+
198.46338870855033,
|
| 228 |
+
-2.409149150061289
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": -0.5235987755982894
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
1256.414514441305,
|
| 240 |
+
196.96338870855033,
|
| 241 |
+
-2.409149150061289
|
| 242 |
+
],
|
| 243 |
+
"type": "turn right",
|
| 244 |
+
"value": 30,
|
| 245 |
+
"yaw": -0.5235987755982894
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
1256.414514441305,
|
| 253 |
+
196.96338870855033,
|
| 254 |
+
-2.409149150061289
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": -1.047197551196588
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
1257.914514441305,
|
| 266 |
+
194.365312497197,
|
| 267 |
+
-2.409149150061289
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": -1.0471975511965979
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
1259.414514441305,
|
| 279 |
+
191.7672362858437,
|
| 280 |
+
-2.409149150061289
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": -1.0471975511965979
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
1260.914514441305,
|
| 292 |
+
189.16916007449038,
|
| 293 |
+
-2.409149150061289
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": -1.0471975511965979
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
1262.414514441305,
|
| 305 |
+
186.57108386313706,
|
| 306 |
+
-2.409149150061289
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": -1.0471975511965979
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
1263.914514441305,
|
| 318 |
+
183.97300765178375,
|
| 319 |
+
-2.409149150061289
|
| 320 |
+
],
|
| 321 |
+
"type": "go straight",
|
| 322 |
+
"value": 3,
|
| 323 |
+
"yaw": -1.0471975511965979
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"action": {
|
| 328 |
+
"imageid": 25,
|
| 329 |
+
"pos": [
|
| 330 |
+
1265.414514441305,
|
| 331 |
+
181.37493144043043,
|
| 332 |
+
-2.409149150061289
|
| 333 |
+
],
|
| 334 |
+
"type": "go straight",
|
| 335 |
+
"value": 3,
|
| 336 |
+
"yaw": -1.0471975511965979
|
| 337 |
+
}
|
| 338 |
+
}
|
| 339 |
+
{
|
| 340 |
+
"action": {
|
| 341 |
+
"imageid": 26,
|
| 342 |
+
"pos": [
|
| 343 |
+
1266.914514441305,
|
| 344 |
+
178.7768552290771,
|
| 345 |
+
-2.409149150061289
|
| 346 |
+
],
|
| 347 |
+
"type": "go straight",
|
| 348 |
+
"value": 3,
|
| 349 |
+
"yaw": -1.0471975511965979
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
{
|
| 353 |
+
"aim_landmark": {
|
| 354 |
+
"color": "test",
|
| 355 |
+
"feature": "test",
|
| 356 |
+
"position": [
|
| 357 |
+
1269.6296508789064,
|
| 358 |
+
175.0053077697754,
|
| 359 |
+
0.0
|
| 360 |
+
],
|
| 361 |
+
"shape": "test",
|
| 362 |
+
"size": "test",
|
| 363 |
+
"type": "building"
|
| 364 |
+
}
|
| 365 |
+
}
|
| 366 |
+
{
|
| 367 |
+
"action": {
|
| 368 |
+
"imageid": 28,
|
| 369 |
+
"pos": [
|
| 370 |
+
1268.414514441305,
|
| 371 |
+
176.1787790177238,
|
| 372 |
+
-2.409149150061289
|
| 373 |
+
],
|
| 374 |
+
"type": "turn left",
|
| 375 |
+
"value": 30,
|
| 376 |
+
"yaw": -1.0471975511965979
|
| 377 |
+
}
|
| 378 |
+
}
|
| 379 |
+
{
|
| 380 |
+
"action": {
|
| 381 |
+
"imageid": 29,
|
| 382 |
+
"pos": [
|
| 383 |
+
1268.414514441305,
|
| 384 |
+
176.1787790177238,
|
| 385 |
+
-2.409149150061289
|
| 386 |
+
],
|
| 387 |
+
"type": "turn left",
|
| 388 |
+
"value": 30,
|
| 389 |
+
"yaw": -0.523598775598299
|
| 390 |
+
}
|
| 391 |
+
}
|
| 392 |
+
{
|
| 393 |
+
"action": {
|
| 394 |
+
"imageid": 30,
|
| 395 |
+
"pos": [
|
| 396 |
+
1268.414514441305,
|
| 397 |
+
176.1787790177238,
|
| 398 |
+
-2.409149150061289
|
| 399 |
+
],
|
| 400 |
+
"type": "turn left",
|
| 401 |
+
"value": 30,
|
| 402 |
+
"yaw": -2.220446049250313e-16
|
| 403 |
+
}
|
| 404 |
+
}
|
| 405 |
+
{
|
| 406 |
+
"action": {
|
| 407 |
+
"imageid": 31,
|
| 408 |
+
"pos": [
|
| 409 |
+
1268.414514441305,
|
| 410 |
+
176.1787790177238,
|
| 411 |
+
-2.409149150061289
|
| 412 |
+
],
|
| 413 |
+
"type": "turn left",
|
| 414 |
+
"value": 30,
|
| 415 |
+
"yaw": 0.5235987755982987
|
| 416 |
+
}
|
| 417 |
+
}
|
| 418 |
+
{
|
| 419 |
+
"action": {
|
| 420 |
+
"imageid": 32,
|
| 421 |
+
"pos": [
|
| 422 |
+
1268.414514441305,
|
| 423 |
+
176.1787790177238,
|
| 424 |
+
-2.409149150061289
|
| 425 |
+
],
|
| 426 |
+
"type": "turn left",
|
| 427 |
+
"value": 30,
|
| 428 |
+
"yaw": 1.0471975511965974
|
| 429 |
+
}
|
| 430 |
+
}
|
| 431 |
+
{
|
| 432 |
+
"action": {
|
| 433 |
+
"imageid": 33,
|
| 434 |
+
"pos": [
|
| 435 |
+
1268.414514441305,
|
| 436 |
+
176.1787790177238,
|
| 437 |
+
-2.409149150061289
|
| 438 |
+
],
|
| 439 |
+
"type": "go straight",
|
| 440 |
+
"value": 3,
|
| 441 |
+
"yaw": 1.0471975511965979
|
| 442 |
+
}
|
| 443 |
+
}
|
| 444 |
+
{
|
| 445 |
+
"action": {
|
| 446 |
+
"imageid": 34,
|
| 447 |
+
"pos": [
|
| 448 |
+
1269.914514441305,
|
| 449 |
+
178.7768552290771,
|
| 450 |
+
-2.409149150061289
|
| 451 |
+
],
|
| 452 |
+
"type": "go straight",
|
| 453 |
+
"value": 3,
|
| 454 |
+
"yaw": 1.0471975511965979
|
| 455 |
+
}
|
| 456 |
+
}
|
| 457 |
+
{
|
| 458 |
+
"action": {
|
| 459 |
+
"imageid": 35,
|
| 460 |
+
"pos": [
|
| 461 |
+
1271.414514441305,
|
| 462 |
+
181.37493144043043,
|
| 463 |
+
-2.409149150061289
|
| 464 |
+
],
|
| 465 |
+
"type": "go straight",
|
| 466 |
+
"value": 3,
|
| 467 |
+
"yaw": 1.0471975511965979
|
| 468 |
+
}
|
| 469 |
+
}
|
| 470 |
+
{
|
| 471 |
+
"action": {
|
| 472 |
+
"imageid": 36,
|
| 473 |
+
"pos": [
|
| 474 |
+
1272.914514441305,
|
| 475 |
+
183.97300765178375,
|
| 476 |
+
-2.409149150061289
|
| 477 |
+
],
|
| 478 |
+
"type": "go straight",
|
| 479 |
+
"value": 3,
|
| 480 |
+
"yaw": 1.0471975511965979
|
| 481 |
+
}
|
| 482 |
+
}
|
| 483 |
+
{
|
| 484 |
+
"action": {
|
| 485 |
+
"imageid": 37,
|
| 486 |
+
"pos": [
|
| 487 |
+
1274.414514441305,
|
| 488 |
+
186.57108386313706,
|
| 489 |
+
-2.409149150061289
|
| 490 |
+
],
|
| 491 |
+
"type": "go straight",
|
| 492 |
+
"value": 3,
|
| 493 |
+
"yaw": 1.0471975511965979
|
| 494 |
+
}
|
| 495 |
+
}
|
| 496 |
+
{
|
| 497 |
+
"action": {
|
| 498 |
+
"imageid": 38,
|
| 499 |
+
"pos": [
|
| 500 |
+
1275.914514441305,
|
| 501 |
+
189.16916007449038,
|
| 502 |
+
-2.409149150061289
|
| 503 |
+
],
|
| 504 |
+
"type": "go straight",
|
| 505 |
+
"value": 3,
|
| 506 |
+
"yaw": 1.0471975511965979
|
| 507 |
+
}
|
| 508 |
+
}
|
| 509 |
+
{
|
| 510 |
+
"action": {
|
| 511 |
+
"imageid": 39,
|
| 512 |
+
"pos": [
|
| 513 |
+
1277.414514441305,
|
| 514 |
+
191.7672362858437,
|
| 515 |
+
-2.409149150061289
|
| 516 |
+
],
|
| 517 |
+
"type": "go straight",
|
| 518 |
+
"value": 3,
|
| 519 |
+
"yaw": 1.0471975511965979
|
| 520 |
+
}
|
| 521 |
+
}
|
| 522 |
+
{
|
| 523 |
+
"action": {
|
| 524 |
+
"imageid": 40,
|
| 525 |
+
"pos": [
|
| 526 |
+
1278.914514441305,
|
| 527 |
+
194.365312497197,
|
| 528 |
+
-2.409149150061289
|
| 529 |
+
],
|
| 530 |
+
"type": "go straight",
|
| 531 |
+
"value": 3,
|
| 532 |
+
"yaw": 1.0471975511965979
|
| 533 |
+
}
|
| 534 |
+
}
|
| 535 |
+
{
|
| 536 |
+
"action": {
|
| 537 |
+
"imageid": 41,
|
| 538 |
+
"pos": [
|
| 539 |
+
1280.414514441305,
|
| 540 |
+
196.96338870855033,
|
| 541 |
+
-2.409149150061289
|
| 542 |
+
],
|
| 543 |
+
"type": "go straight",
|
| 544 |
+
"value": 3,
|
| 545 |
+
"yaw": 1.0471975511965979
|
| 546 |
+
}
|
| 547 |
+
}
|
| 548 |
+
{
|
| 549 |
+
"action": {
|
| 550 |
+
"imageid": 42,
|
| 551 |
+
"pos": [
|
| 552 |
+
1281.914514441305,
|
| 553 |
+
199.56146491990364,
|
| 554 |
+
-2.409149150061289
|
| 555 |
+
],
|
| 556 |
+
"type": "go straight",
|
| 557 |
+
"value": 3,
|
| 558 |
+
"yaw": 1.0471975511965979
|
| 559 |
+
}
|
| 560 |
+
}
|
| 561 |
+
{
|
| 562 |
+
"action": {
|
| 563 |
+
"imageid": 43,
|
| 564 |
+
"pos": [
|
| 565 |
+
1283.414514441305,
|
| 566 |
+
202.15954113125696,
|
| 567 |
+
-2.409149150061289
|
| 568 |
+
],
|
| 569 |
+
"type": "go straight",
|
| 570 |
+
"value": 3,
|
| 571 |
+
"yaw": 1.0471975511965979
|
| 572 |
+
}
|
| 573 |
+
}
|
| 574 |
+
{
|
| 575 |
+
"action": {
|
| 576 |
+
"imageid": 44,
|
| 577 |
+
"pos": [
|
| 578 |
+
1284.914514441305,
|
| 579 |
+
204.75761734261027,
|
| 580 |
+
-2.409149150061289
|
| 581 |
+
],
|
| 582 |
+
"type": "go straight",
|
| 583 |
+
"value": 3,
|
| 584 |
+
"yaw": 1.0471975511965979
|
| 585 |
+
}
|
| 586 |
+
}
|
| 587 |
+
{
|
| 588 |
+
"action": {
|
| 589 |
+
"imageid": 45,
|
| 590 |
+
"pos": [
|
| 591 |
+
1286.414514441305,
|
| 592 |
+
207.3556935539636,
|
| 593 |
+
-2.409149150061289
|
| 594 |
+
],
|
| 595 |
+
"type": "go straight",
|
| 596 |
+
"value": 3,
|
| 597 |
+
"yaw": 1.0471975511965979
|
| 598 |
+
}
|
| 599 |
+
}
|
| 600 |
+
{
|
| 601 |
+
"action": {
|
| 602 |
+
"imageid": 46,
|
| 603 |
+
"pos": [
|
| 604 |
+
1287.914514441305,
|
| 605 |
+
209.9537697653169,
|
| 606 |
+
-2.409149150061289
|
| 607 |
+
],
|
| 608 |
+
"type": "go straight",
|
| 609 |
+
"value": 3,
|
| 610 |
+
"yaw": 1.0471975511965979
|
| 611 |
+
}
|
| 612 |
+
}
|
| 613 |
+
{
|
| 614 |
+
"action": {
|
| 615 |
+
"imageid": 47,
|
| 616 |
+
"pos": [
|
| 617 |
+
1289.414514441305,
|
| 618 |
+
212.55184597667022,
|
| 619 |
+
-2.409149150061289
|
| 620 |
+
],
|
| 621 |
+
"type": "go straight",
|
| 622 |
+
"value": 3,
|
| 623 |
+
"yaw": 1.0471975511965979
|
| 624 |
+
}
|
| 625 |
+
}
|
| 626 |
+
{
|
| 627 |
+
"action": {
|
| 628 |
+
"imageid": 48,
|
| 629 |
+
"pos": [
|
| 630 |
+
1290.914514441305,
|
| 631 |
+
215.14992218802354,
|
| 632 |
+
-2.409149150061289
|
| 633 |
+
],
|
| 634 |
+
"type": "go straight",
|
| 635 |
+
"value": 3,
|
| 636 |
+
"yaw": 1.0471975511965979
|
| 637 |
+
}
|
| 638 |
+
}
|
| 639 |
+
{
|
| 640 |
+
"action": {
|
| 641 |
+
"imageid": 49,
|
| 642 |
+
"pos": [
|
| 643 |
+
1292.414514441305,
|
| 644 |
+
217.74799839937685,
|
| 645 |
+
-2.409149150061289
|
| 646 |
+
],
|
| 647 |
+
"type": "go straight",
|
| 648 |
+
"value": 3,
|
| 649 |
+
"yaw": 1.0471975511965979
|
| 650 |
+
}
|
| 651 |
+
}
|
| 652 |
+
{
|
| 653 |
+
"action": {
|
| 654 |
+
"imageid": 50,
|
| 655 |
+
"pos": [
|
| 656 |
+
1293.914514441305,
|
| 657 |
+
220.34607461073017,
|
| 658 |
+
-2.409149150061289
|
| 659 |
+
],
|
| 660 |
+
"type": "turn left",
|
| 661 |
+
"value": 30,
|
| 662 |
+
"yaw": 1.0471975511965979
|
| 663 |
+
}
|
| 664 |
+
}
|
| 665 |
+
{
|
| 666 |
+
"action": {
|
| 667 |
+
"imageid": 51,
|
| 668 |
+
"pos": [
|
| 669 |
+
1293.914514441305,
|
| 670 |
+
220.34607461073017,
|
| 671 |
+
-2.409149150061289
|
| 672 |
+
],
|
| 673 |
+
"type": "go straight",
|
| 674 |
+
"value": 3,
|
| 675 |
+
"yaw": 1.5707963267948966
|
| 676 |
+
}
|
| 677 |
+
}
|
| 678 |
+
{
|
| 679 |
+
"action": {
|
| 680 |
+
"imageid": 52,
|
| 681 |
+
"pos": [
|
| 682 |
+
1293.914514441305,
|
| 683 |
+
223.34607461073017,
|
| 684 |
+
-2.409149150061289
|
| 685 |
+
],
|
| 686 |
+
"type": "go straight",
|
| 687 |
+
"value": 3,
|
| 688 |
+
"yaw": 1.5707963267948966
|
| 689 |
+
}
|
| 690 |
+
}
|
| 691 |
+
{
|
| 692 |
+
"action": {
|
| 693 |
+
"imageid": 53,
|
| 694 |
+
"pos": [
|
| 695 |
+
1293.914514441305,
|
| 696 |
+
226.34607461073017,
|
| 697 |
+
-2.409149150061289
|
| 698 |
+
],
|
| 699 |
+
"type": "go straight",
|
| 700 |
+
"value": 3,
|
| 701 |
+
"yaw": 1.5707963267948966
|
| 702 |
+
}
|
| 703 |
+
}
|
| 704 |
+
{
|
| 705 |
+
"action": {
|
| 706 |
+
"imageid": 54,
|
| 707 |
+
"pos": [
|
| 708 |
+
1293.914514441305,
|
| 709 |
+
229.34607461073017,
|
| 710 |
+
-2.409149150061289
|
| 711 |
+
],
|
| 712 |
+
"type": "go straight",
|
| 713 |
+
"value": 3,
|
| 714 |
+
"yaw": 1.5707963267948966
|
| 715 |
+
}
|
| 716 |
+
}
|
| 717 |
+
{
|
| 718 |
+
"action": {
|
| 719 |
+
"imageid": 55,
|
| 720 |
+
"pos": [
|
| 721 |
+
1293.914514441305,
|
| 722 |
+
232.34607461073017,
|
| 723 |
+
-2.409149150061289
|
| 724 |
+
],
|
| 725 |
+
"type": "go straight",
|
| 726 |
+
"value": 3,
|
| 727 |
+
"yaw": 1.5707963267948966
|
| 728 |
+
}
|
| 729 |
+
}
|
| 730 |
+
{
|
| 731 |
+
"action": {
|
| 732 |
+
"imageid": 56,
|
| 733 |
+
"pos": [
|
| 734 |
+
1293.914514441305,
|
| 735 |
+
235.34607461073017,
|
| 736 |
+
-2.409149150061289
|
| 737 |
+
],
|
| 738 |
+
"type": "go straight",
|
| 739 |
+
"value": 3,
|
| 740 |
+
"yaw": 1.5707963267948966
|
| 741 |
+
}
|
| 742 |
+
}
|
| 743 |
+
{
|
| 744 |
+
"action": {
|
| 745 |
+
"imageid": 57,
|
| 746 |
+
"pos": [
|
| 747 |
+
1293.914514441305,
|
| 748 |
+
238.34607461073017,
|
| 749 |
+
-2.409149150061289
|
| 750 |
+
],
|
| 751 |
+
"type": "go straight",
|
| 752 |
+
"value": 3,
|
| 753 |
+
"yaw": 1.5707963267948966
|
| 754 |
+
}
|
| 755 |
+
}
|
| 756 |
+
{
|
| 757 |
+
"action": {
|
| 758 |
+
"imageid": 58,
|
| 759 |
+
"pos": [
|
| 760 |
+
1293.914514441305,
|
| 761 |
+
241.34607461073017,
|
| 762 |
+
-2.409149150061289
|
| 763 |
+
],
|
| 764 |
+
"type": "stop",
|
| 765 |
+
"value": 0,
|
| 766 |
+
"yaw": 1.5707963267948966
|
| 767 |
+
}
|
| 768 |
+
}
|
| 769 |
+
{
|
| 770 |
+
"aim_landmark": {
|
| 771 |
+
"color": "test",
|
| 772 |
+
"feature": "test",
|
| 773 |
+
"position": [
|
| 774 |
+
1292.3825042724611,
|
| 775 |
+
243.1778787612915,
|
| 776 |
+
0.0
|
| 777 |
+
],
|
| 778 |
+
"shape": "test",
|
| 779 |
+
"size": "test",
|
| 780 |
+
"type": "building"
|
| 781 |
+
}
|
| 782 |
+
}
|
Image/env_gs_nwpu02/astar_data/long/2025-1-16_14-59-19_1998898814/pose.jsonl
ADDED
|
@@ -0,0 +1,782 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-239.51667507241876,
|
| 6 |
+
-226.1135208115354,
|
| 7 |
+
-2.057045057701379
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 1.0471975511965979
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-238.01667507241876,
|
| 19 |
+
-223.5154446001821,
|
| 20 |
+
-2.057045057701379
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 1.0471975511965979
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-236.51667507241876,
|
| 32 |
+
-220.91736838882878,
|
| 33 |
+
-2.057045057701379
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 1.0471975511965979
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-235.01667507241876,
|
| 45 |
+
-218.31929217747546,
|
| 46 |
+
-2.057045057701379
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 1.0471975511965979
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-233.51667507241876,
|
| 58 |
+
-215.72121596612214,
|
| 59 |
+
-2.057045057701379
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 1.0471975511965979
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-232.01667507241876,
|
| 71 |
+
-213.12313975476883,
|
| 72 |
+
-2.057045057701379
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 1.0471975511965979
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-230.51667507241876,
|
| 84 |
+
-210.5250635434155,
|
| 85 |
+
-2.057045057701379
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 1.0471975511965979
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-229.01667507241876,
|
| 97 |
+
-207.9269873320622,
|
| 98 |
+
-2.057045057701379
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 1.0471975511965979
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-227.51667507241876,
|
| 110 |
+
-205.32891112070888,
|
| 111 |
+
-2.057045057701379
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 1.0471975511965979
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-226.01667507241876,
|
| 123 |
+
-202.73083490935556,
|
| 124 |
+
-2.057045057701379
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 1.0471975511965979
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-224.51667507241876,
|
| 136 |
+
-200.13275869800225,
|
| 137 |
+
-2.057045057701379
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 1.0471975511965979
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-223.01667507241876,
|
| 149 |
+
-197.53468248664893,
|
| 150 |
+
-2.057045057701379
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 1.0471975511965979
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-221.51667507241876,
|
| 162 |
+
-194.93660627529562,
|
| 163 |
+
-2.057045057701379
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 1.0471975511965979
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-220.01667507241876,
|
| 175 |
+
-192.3385300639423,
|
| 176 |
+
-2.057045057701379
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 1.0471975511965979
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-218.51667507241876,
|
| 188 |
+
-189.74045385258898,
|
| 189 |
+
-2.057045057701379
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 1.0471975511965979
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-217.01667507241876,
|
| 201 |
+
-187.14237764123567,
|
| 202 |
+
-2.057045057701379
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 1.0471975511965979
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-215.51667507241876,
|
| 214 |
+
-184.54430142988235,
|
| 215 |
+
-2.057045057701379
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 1.0471975511965979
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-214.01667507241876,
|
| 227 |
+
-181.94622521852904,
|
| 228 |
+
-2.057045057701379
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 1.0471975511965979
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
-212.51667507241876,
|
| 240 |
+
-179.34814900717572,
|
| 241 |
+
-2.057045057701379
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 1.0471975511965979
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
-211.01667507241876,
|
| 253 |
+
-176.7500727958224,
|
| 254 |
+
-2.057045057701379
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": 1.0471975511965979
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
-209.51667507241876,
|
| 266 |
+
-174.1519965844691,
|
| 267 |
+
-2.057045057701379
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": 1.0471975511965979
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
-208.01667507241876,
|
| 279 |
+
-171.55392037311577,
|
| 280 |
+
-2.057045057701379
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": 1.0471975511965979
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
-206.51667507241876,
|
| 292 |
+
-168.95584416176246,
|
| 293 |
+
-2.057045057701379
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": 1.0471975511965979
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
-205.01667507241876,
|
| 305 |
+
-166.35776795040914,
|
| 306 |
+
-2.057045057701379
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": 1.0471975511965979
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
-203.51667507241876,
|
| 318 |
+
-163.75969173905582,
|
| 319 |
+
-2.057045057701379
|
| 320 |
+
],
|
| 321 |
+
"type": "go straight",
|
| 322 |
+
"value": 3,
|
| 323 |
+
"yaw": 1.0471975511965979
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"aim_landmark": {
|
| 328 |
+
"color": "test",
|
| 329 |
+
"feature": "test",
|
| 330 |
+
"position": [
|
| 331 |
+
-203.22534084320068,
|
| 332 |
+
-159.0278995513916,
|
| 333 |
+
0.0
|
| 334 |
+
],
|
| 335 |
+
"shape": "test",
|
| 336 |
+
"size": "test",
|
| 337 |
+
"type": "building"
|
| 338 |
+
}
|
| 339 |
+
}
|
| 340 |
+
{
|
| 341 |
+
"action": {
|
| 342 |
+
"imageid": 26,
|
| 343 |
+
"pos": [
|
| 344 |
+
-202.01667507241876,
|
| 345 |
+
-161.1616155277025,
|
| 346 |
+
-2.057045057701379
|
| 347 |
+
],
|
| 348 |
+
"type": "turn right",
|
| 349 |
+
"value": 30,
|
| 350 |
+
"yaw": 1.0471975511965979
|
| 351 |
+
}
|
| 352 |
+
}
|
| 353 |
+
{
|
| 354 |
+
"action": {
|
| 355 |
+
"imageid": 27,
|
| 356 |
+
"pos": [
|
| 357 |
+
-202.01667507241876,
|
| 358 |
+
-161.1616155277025,
|
| 359 |
+
-2.057045057701379
|
| 360 |
+
],
|
| 361 |
+
"type": "turn right",
|
| 362 |
+
"value": 30,
|
| 363 |
+
"yaw": 0.523598775598299
|
| 364 |
+
}
|
| 365 |
+
}
|
| 366 |
+
{
|
| 367 |
+
"action": {
|
| 368 |
+
"imageid": 28,
|
| 369 |
+
"pos": [
|
| 370 |
+
-202.01667507241876,
|
| 371 |
+
-161.1616155277025,
|
| 372 |
+
-2.057045057701379
|
| 373 |
+
],
|
| 374 |
+
"type": "turn right",
|
| 375 |
+
"value": 30,
|
| 376 |
+
"yaw": 2.220446049250313e-16
|
| 377 |
+
}
|
| 378 |
+
}
|
| 379 |
+
{
|
| 380 |
+
"action": {
|
| 381 |
+
"imageid": 29,
|
| 382 |
+
"pos": [
|
| 383 |
+
-202.01667507241876,
|
| 384 |
+
-161.1616155277025,
|
| 385 |
+
-2.057045057701379
|
| 386 |
+
],
|
| 387 |
+
"type": "go straight",
|
| 388 |
+
"value": 3,
|
| 389 |
+
"yaw": 0.0
|
| 390 |
+
}
|
| 391 |
+
}
|
| 392 |
+
{
|
| 393 |
+
"action": {
|
| 394 |
+
"imageid": 30,
|
| 395 |
+
"pos": [
|
| 396 |
+
-199.01667507241876,
|
| 397 |
+
-161.1616155277025,
|
| 398 |
+
-2.057045057701379
|
| 399 |
+
],
|
| 400 |
+
"type": "go straight",
|
| 401 |
+
"value": 3,
|
| 402 |
+
"yaw": 0.0
|
| 403 |
+
}
|
| 404 |
+
}
|
| 405 |
+
{
|
| 406 |
+
"action": {
|
| 407 |
+
"imageid": 31,
|
| 408 |
+
"pos": [
|
| 409 |
+
-196.01667507241876,
|
| 410 |
+
-161.1616155277025,
|
| 411 |
+
-2.057045057701379
|
| 412 |
+
],
|
| 413 |
+
"type": "turn left",
|
| 414 |
+
"value": 30,
|
| 415 |
+
"yaw": 0.0
|
| 416 |
+
}
|
| 417 |
+
}
|
| 418 |
+
{
|
| 419 |
+
"action": {
|
| 420 |
+
"imageid": 32,
|
| 421 |
+
"pos": [
|
| 422 |
+
-196.01667507241876,
|
| 423 |
+
-161.1616155277025,
|
| 424 |
+
-2.057045057701379
|
| 425 |
+
],
|
| 426 |
+
"type": "turn left",
|
| 427 |
+
"value": 30,
|
| 428 |
+
"yaw": 0.5235987755982988
|
| 429 |
+
}
|
| 430 |
+
}
|
| 431 |
+
{
|
| 432 |
+
"action": {
|
| 433 |
+
"imageid": 33,
|
| 434 |
+
"pos": [
|
| 435 |
+
-196.01667507241876,
|
| 436 |
+
-161.1616155277025,
|
| 437 |
+
-2.057045057701379
|
| 438 |
+
],
|
| 439 |
+
"type": "go straight",
|
| 440 |
+
"value": 3,
|
| 441 |
+
"yaw": 1.0471975511965976
|
| 442 |
+
}
|
| 443 |
+
}
|
| 444 |
+
{
|
| 445 |
+
"action": {
|
| 446 |
+
"imageid": 34,
|
| 447 |
+
"pos": [
|
| 448 |
+
-194.51667507241876,
|
| 449 |
+
-158.5635393163492,
|
| 450 |
+
-2.057045057701379
|
| 451 |
+
],
|
| 452 |
+
"type": "go straight",
|
| 453 |
+
"value": 3,
|
| 454 |
+
"yaw": 1.0471975511965979
|
| 455 |
+
}
|
| 456 |
+
}
|
| 457 |
+
{
|
| 458 |
+
"action": {
|
| 459 |
+
"imageid": 35,
|
| 460 |
+
"pos": [
|
| 461 |
+
-193.01667507241876,
|
| 462 |
+
-155.96546310499588,
|
| 463 |
+
-2.057045057701379
|
| 464 |
+
],
|
| 465 |
+
"type": "go straight",
|
| 466 |
+
"value": 3,
|
| 467 |
+
"yaw": 1.0471975511965979
|
| 468 |
+
}
|
| 469 |
+
}
|
| 470 |
+
{
|
| 471 |
+
"action": {
|
| 472 |
+
"imageid": 36,
|
| 473 |
+
"pos": [
|
| 474 |
+
-191.51667507241876,
|
| 475 |
+
-153.36738689364256,
|
| 476 |
+
-2.057045057701379
|
| 477 |
+
],
|
| 478 |
+
"type": "turn right",
|
| 479 |
+
"value": 30,
|
| 480 |
+
"yaw": 1.0471975511965979
|
| 481 |
+
}
|
| 482 |
+
}
|
| 483 |
+
{
|
| 484 |
+
"action": {
|
| 485 |
+
"imageid": 37,
|
| 486 |
+
"pos": [
|
| 487 |
+
-191.51667507241876,
|
| 488 |
+
-153.36738689364256,
|
| 489 |
+
-2.057045057701379
|
| 490 |
+
],
|
| 491 |
+
"type": "go straight",
|
| 492 |
+
"value": 3,
|
| 493 |
+
"yaw": 0.523598775598299
|
| 494 |
+
}
|
| 495 |
+
}
|
| 496 |
+
{
|
| 497 |
+
"action": {
|
| 498 |
+
"imageid": 38,
|
| 499 |
+
"pos": [
|
| 500 |
+
-188.91859886106545,
|
| 501 |
+
-151.86738689364256,
|
| 502 |
+
-2.057045057701379
|
| 503 |
+
],
|
| 504 |
+
"type": "go straight",
|
| 505 |
+
"value": 3,
|
| 506 |
+
"yaw": 0.5235987755982988
|
| 507 |
+
}
|
| 508 |
+
}
|
| 509 |
+
{
|
| 510 |
+
"action": {
|
| 511 |
+
"imageid": 39,
|
| 512 |
+
"pos": [
|
| 513 |
+
-186.32052264971213,
|
| 514 |
+
-150.36738689364256,
|
| 515 |
+
-2.057045057701379
|
| 516 |
+
],
|
| 517 |
+
"type": "go straight",
|
| 518 |
+
"value": 3,
|
| 519 |
+
"yaw": 0.5235987755982988
|
| 520 |
+
}
|
| 521 |
+
}
|
| 522 |
+
{
|
| 523 |
+
"action": {
|
| 524 |
+
"imageid": 40,
|
| 525 |
+
"pos": [
|
| 526 |
+
-183.72244643835882,
|
| 527 |
+
-148.86738689364256,
|
| 528 |
+
-2.057045057701379
|
| 529 |
+
],
|
| 530 |
+
"type": "go straight",
|
| 531 |
+
"value": 3,
|
| 532 |
+
"yaw": 0.5235987755982988
|
| 533 |
+
}
|
| 534 |
+
}
|
| 535 |
+
{
|
| 536 |
+
"action": {
|
| 537 |
+
"imageid": 41,
|
| 538 |
+
"pos": [
|
| 539 |
+
-181.1243702270055,
|
| 540 |
+
-147.36738689364256,
|
| 541 |
+
-2.057045057701379
|
| 542 |
+
],
|
| 543 |
+
"type": "go straight",
|
| 544 |
+
"value": 3,
|
| 545 |
+
"yaw": 0.5235987755982988
|
| 546 |
+
}
|
| 547 |
+
}
|
| 548 |
+
{
|
| 549 |
+
"action": {
|
| 550 |
+
"imageid": 42,
|
| 551 |
+
"pos": [
|
| 552 |
+
-178.52629401565218,
|
| 553 |
+
-145.86738689364256,
|
| 554 |
+
-2.057045057701379
|
| 555 |
+
],
|
| 556 |
+
"type": "go straight",
|
| 557 |
+
"value": 3,
|
| 558 |
+
"yaw": 0.5235987755982988
|
| 559 |
+
}
|
| 560 |
+
}
|
| 561 |
+
{
|
| 562 |
+
"action": {
|
| 563 |
+
"imageid": 43,
|
| 564 |
+
"pos": [
|
| 565 |
+
-175.92821780429887,
|
| 566 |
+
-144.36738689364256,
|
| 567 |
+
-2.057045057701379
|
| 568 |
+
],
|
| 569 |
+
"type": "go straight",
|
| 570 |
+
"value": 3,
|
| 571 |
+
"yaw": 0.5235987755982988
|
| 572 |
+
}
|
| 573 |
+
}
|
| 574 |
+
{
|
| 575 |
+
"action": {
|
| 576 |
+
"imageid": 44,
|
| 577 |
+
"pos": [
|
| 578 |
+
-173.33014159294555,
|
| 579 |
+
-142.86738689364256,
|
| 580 |
+
-2.057045057701379
|
| 581 |
+
],
|
| 582 |
+
"type": "go straight",
|
| 583 |
+
"value": 3,
|
| 584 |
+
"yaw": 0.5235987755982988
|
| 585 |
+
}
|
| 586 |
+
}
|
| 587 |
+
{
|
| 588 |
+
"action": {
|
| 589 |
+
"imageid": 45,
|
| 590 |
+
"pos": [
|
| 591 |
+
-170.73206538159224,
|
| 592 |
+
-141.36738689364256,
|
| 593 |
+
-2.057045057701379
|
| 594 |
+
],
|
| 595 |
+
"type": "go straight",
|
| 596 |
+
"value": 3,
|
| 597 |
+
"yaw": 0.5235987755982988
|
| 598 |
+
}
|
| 599 |
+
}
|
| 600 |
+
{
|
| 601 |
+
"action": {
|
| 602 |
+
"imageid": 46,
|
| 603 |
+
"pos": [
|
| 604 |
+
-168.13398917023892,
|
| 605 |
+
-139.86738689364256,
|
| 606 |
+
-2.057045057701379
|
| 607 |
+
],
|
| 608 |
+
"type": "go straight",
|
| 609 |
+
"value": 3,
|
| 610 |
+
"yaw": 0.5235987755982988
|
| 611 |
+
}
|
| 612 |
+
}
|
| 613 |
+
{
|
| 614 |
+
"action": {
|
| 615 |
+
"imageid": 47,
|
| 616 |
+
"pos": [
|
| 617 |
+
-165.5359129588856,
|
| 618 |
+
-138.36738689364256,
|
| 619 |
+
-2.057045057701379
|
| 620 |
+
],
|
| 621 |
+
"type": "go straight",
|
| 622 |
+
"value": 3,
|
| 623 |
+
"yaw": 0.5235987755982988
|
| 624 |
+
}
|
| 625 |
+
}
|
| 626 |
+
{
|
| 627 |
+
"action": {
|
| 628 |
+
"imageid": 48,
|
| 629 |
+
"pos": [
|
| 630 |
+
-162.9378367475323,
|
| 631 |
+
-136.86738689364256,
|
| 632 |
+
-2.057045057701379
|
| 633 |
+
],
|
| 634 |
+
"type": "go straight",
|
| 635 |
+
"value": 3,
|
| 636 |
+
"yaw": 0.5235987755982988
|
| 637 |
+
}
|
| 638 |
+
}
|
| 639 |
+
{
|
| 640 |
+
"action": {
|
| 641 |
+
"imageid": 49,
|
| 642 |
+
"pos": [
|
| 643 |
+
-160.33976053617897,
|
| 644 |
+
-135.36738689364256,
|
| 645 |
+
-2.057045057701379
|
| 646 |
+
],
|
| 647 |
+
"type": "go straight",
|
| 648 |
+
"value": 3,
|
| 649 |
+
"yaw": 0.5235987755982988
|
| 650 |
+
}
|
| 651 |
+
}
|
| 652 |
+
{
|
| 653 |
+
"action": {
|
| 654 |
+
"imageid": 50,
|
| 655 |
+
"pos": [
|
| 656 |
+
-157.74168432482566,
|
| 657 |
+
-133.86738689364256,
|
| 658 |
+
-2.057045057701379
|
| 659 |
+
],
|
| 660 |
+
"type": "go straight",
|
| 661 |
+
"value": 3,
|
| 662 |
+
"yaw": 0.5235987755982988
|
| 663 |
+
}
|
| 664 |
+
}
|
| 665 |
+
{
|
| 666 |
+
"action": {
|
| 667 |
+
"imageid": 51,
|
| 668 |
+
"pos": [
|
| 669 |
+
-155.14360811347234,
|
| 670 |
+
-132.36738689364256,
|
| 671 |
+
-2.057045057701379
|
| 672 |
+
],
|
| 673 |
+
"type": "go straight",
|
| 674 |
+
"value": 3,
|
| 675 |
+
"yaw": 0.5235987755982988
|
| 676 |
+
}
|
| 677 |
+
}
|
| 678 |
+
{
|
| 679 |
+
"action": {
|
| 680 |
+
"imageid": 52,
|
| 681 |
+
"pos": [
|
| 682 |
+
-152.54553190211902,
|
| 683 |
+
-130.86738689364256,
|
| 684 |
+
-2.057045057701379
|
| 685 |
+
],
|
| 686 |
+
"type": "go straight",
|
| 687 |
+
"value": 3,
|
| 688 |
+
"yaw": 0.5235987755982988
|
| 689 |
+
}
|
| 690 |
+
}
|
| 691 |
+
{
|
| 692 |
+
"action": {
|
| 693 |
+
"imageid": 53,
|
| 694 |
+
"pos": [
|
| 695 |
+
-149.9474556907657,
|
| 696 |
+
-129.36738689364256,
|
| 697 |
+
-2.057045057701379
|
| 698 |
+
],
|
| 699 |
+
"type": "go straight",
|
| 700 |
+
"value": 3,
|
| 701 |
+
"yaw": 0.5235987755982988
|
| 702 |
+
}
|
| 703 |
+
}
|
| 704 |
+
{
|
| 705 |
+
"action": {
|
| 706 |
+
"imageid": 54,
|
| 707 |
+
"pos": [
|
| 708 |
+
-147.3493794794124,
|
| 709 |
+
-127.86738689364256,
|
| 710 |
+
-2.057045057701379
|
| 711 |
+
],
|
| 712 |
+
"type": "go straight",
|
| 713 |
+
"value": 3,
|
| 714 |
+
"yaw": 0.5235987755982988
|
| 715 |
+
}
|
| 716 |
+
}
|
| 717 |
+
{
|
| 718 |
+
"action": {
|
| 719 |
+
"imageid": 55,
|
| 720 |
+
"pos": [
|
| 721 |
+
-144.75130326805908,
|
| 722 |
+
-126.36738689364256,
|
| 723 |
+
-2.057045057701379
|
| 724 |
+
],
|
| 725 |
+
"type": "go straight",
|
| 726 |
+
"value": 3,
|
| 727 |
+
"yaw": 0.5235987755982988
|
| 728 |
+
}
|
| 729 |
+
}
|
| 730 |
+
{
|
| 731 |
+
"action": {
|
| 732 |
+
"imageid": 56,
|
| 733 |
+
"pos": [
|
| 734 |
+
-142.15322705670576,
|
| 735 |
+
-124.86738689364256,
|
| 736 |
+
-2.057045057701379
|
| 737 |
+
],
|
| 738 |
+
"type": "go straight",
|
| 739 |
+
"value": 3,
|
| 740 |
+
"yaw": 0.5235987755982988
|
| 741 |
+
}
|
| 742 |
+
}
|
| 743 |
+
{
|
| 744 |
+
"action": {
|
| 745 |
+
"imageid": 57,
|
| 746 |
+
"pos": [
|
| 747 |
+
-139.55515084535244,
|
| 748 |
+
-123.36738689364256,
|
| 749 |
+
-2.057045057701379
|
| 750 |
+
],
|
| 751 |
+
"type": "go straight",
|
| 752 |
+
"value": 3,
|
| 753 |
+
"yaw": 0.5235987755982988
|
| 754 |
+
}
|
| 755 |
+
}
|
| 756 |
+
{
|
| 757 |
+
"action": {
|
| 758 |
+
"imageid": 58,
|
| 759 |
+
"pos": [
|
| 760 |
+
-136.95707463399913,
|
| 761 |
+
-121.86738689364256,
|
| 762 |
+
-2.057045057701379
|
| 763 |
+
],
|
| 764 |
+
"type": "stop",
|
| 765 |
+
"value": 0,
|
| 766 |
+
"yaw": 0.5235987755982988
|
| 767 |
+
}
|
| 768 |
+
}
|
| 769 |
+
{
|
| 770 |
+
"aim_landmark": {
|
| 771 |
+
"color": "test",
|
| 772 |
+
"feature": "test",
|
| 773 |
+
"position": [
|
| 774 |
+
-133.47221508026124,
|
| 775 |
+
-121.93247375488282,
|
| 776 |
+
0.0
|
| 777 |
+
],
|
| 778 |
+
"shape": "test",
|
| 779 |
+
"size": "test",
|
| 780 |
+
"type": "building"
|
| 781 |
+
}
|
| 782 |
+
}
|
Image/env_gs_nwpu02/astar_data/long/2025-1-16_14-59-57_1548233367/pose.jsonl
ADDED
|
@@ -0,0 +1,574 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
1490.532872005296,
|
| 6 |
+
-173.11568153053034,
|
| 7 |
+
0.9289597611851867
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 1.0471975511965979
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
1492.032872005296,
|
| 19 |
+
-170.51760531917702,
|
| 20 |
+
0.9289597611851867
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 1.0471975511965979
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
1493.532872005296,
|
| 32 |
+
-167.9195291078237,
|
| 33 |
+
0.9289597611851867
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 1.0471975511965979
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
1495.032872005296,
|
| 45 |
+
-165.3214528964704,
|
| 46 |
+
0.9289597611851867
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 1.0471975511965979
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
1496.532872005296,
|
| 58 |
+
-162.72337668511707,
|
| 59 |
+
0.9289597611851867
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 1.0471975511965979
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
1498.032872005296,
|
| 71 |
+
-160.12530047376376,
|
| 72 |
+
0.9289597611851867
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 1.0471975511965979
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
1499.532872005296,
|
| 84 |
+
-157.52722426241044,
|
| 85 |
+
0.9289597611851867
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 1.0471975511965979
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
1501.032872005296,
|
| 97 |
+
-154.92914805105713,
|
| 98 |
+
0.9289597611851867
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 1.0471975511965979
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
1502.532872005296,
|
| 110 |
+
-152.3310718397038,
|
| 111 |
+
0.9289597611851867
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 1.0471975511965979
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
1504.032872005296,
|
| 123 |
+
-149.7329956283505,
|
| 124 |
+
0.9289597611851867
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 1.0471975511965979
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
1505.532872005296,
|
| 136 |
+
-147.13491941699718,
|
| 137 |
+
0.9289597611851867
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 1.0471975511965979
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
1507.032872005296,
|
| 149 |
+
-144.53684320564386,
|
| 150 |
+
0.9289597611851867
|
| 151 |
+
],
|
| 152 |
+
"type": "turn left",
|
| 153 |
+
"value": 30,
|
| 154 |
+
"yaw": 1.0471975511965979
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
1507.032872005296,
|
| 162 |
+
-144.53684320564386,
|
| 163 |
+
0.9289597611851867
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 1.5707963267948966
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
1507.032872005296,
|
| 175 |
+
-141.53684320564386,
|
| 176 |
+
0.9289597611851867
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 1.5707963267948966
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
1507.032872005296,
|
| 188 |
+
-138.53684320564386,
|
| 189 |
+
0.9289597611851867
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 1.5707963267948966
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
1507.032872005296,
|
| 201 |
+
-135.53684320564386,
|
| 202 |
+
0.9289597611851867
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 1.5707963267948966
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"aim_landmark": {
|
| 211 |
+
"color": "test",
|
| 212 |
+
"feature": "test",
|
| 213 |
+
"position": [
|
| 214 |
+
1517.6720581054688,
|
| 215 |
+
-108.54975051879883,
|
| 216 |
+
0.0
|
| 217 |
+
],
|
| 218 |
+
"shape": "test",
|
| 219 |
+
"size": "test",
|
| 220 |
+
"type": "building"
|
| 221 |
+
}
|
| 222 |
+
}
|
| 223 |
+
{
|
| 224 |
+
"action": {
|
| 225 |
+
"imageid": 17,
|
| 226 |
+
"pos": [
|
| 227 |
+
1507.032872005296,
|
| 228 |
+
-132.53684320564386,
|
| 229 |
+
0.9289597611851867
|
| 230 |
+
],
|
| 231 |
+
"type": "turn right",
|
| 232 |
+
"value": 30,
|
| 233 |
+
"yaw": 1.5707963267948966
|
| 234 |
+
}
|
| 235 |
+
}
|
| 236 |
+
{
|
| 237 |
+
"action": {
|
| 238 |
+
"imageid": 18,
|
| 239 |
+
"pos": [
|
| 240 |
+
1507.032872005296,
|
| 241 |
+
-132.53684320564386,
|
| 242 |
+
0.9289597611851867
|
| 243 |
+
],
|
| 244 |
+
"type": "turn right",
|
| 245 |
+
"value": 30,
|
| 246 |
+
"yaw": 1.0471975511965979
|
| 247 |
+
}
|
| 248 |
+
}
|
| 249 |
+
{
|
| 250 |
+
"action": {
|
| 251 |
+
"imageid": 19,
|
| 252 |
+
"pos": [
|
| 253 |
+
1507.032872005296,
|
| 254 |
+
-132.53684320564386,
|
| 255 |
+
0.9289597611851867
|
| 256 |
+
],
|
| 257 |
+
"type": "turn right",
|
| 258 |
+
"value": 30,
|
| 259 |
+
"yaw": 0.5235987755982989
|
| 260 |
+
}
|
| 261 |
+
}
|
| 262 |
+
{
|
| 263 |
+
"action": {
|
| 264 |
+
"imageid": 20,
|
| 265 |
+
"pos": [
|
| 266 |
+
1507.032872005296,
|
| 267 |
+
-132.53684320564386,
|
| 268 |
+
0.9289597611851867
|
| 269 |
+
],
|
| 270 |
+
"type": "go straight",
|
| 271 |
+
"value": 3,
|
| 272 |
+
"yaw": 0.5235987755982894
|
| 273 |
+
}
|
| 274 |
+
}
|
| 275 |
+
{
|
| 276 |
+
"action": {
|
| 277 |
+
"imageid": 21,
|
| 278 |
+
"pos": [
|
| 279 |
+
1509.6309482166494,
|
| 280 |
+
-131.03684320564386,
|
| 281 |
+
0.9289597611851867
|
| 282 |
+
],
|
| 283 |
+
"type": "go straight",
|
| 284 |
+
"value": 3,
|
| 285 |
+
"yaw": 0.5235987755982894
|
| 286 |
+
}
|
| 287 |
+
}
|
| 288 |
+
{
|
| 289 |
+
"action": {
|
| 290 |
+
"imageid": 22,
|
| 291 |
+
"pos": [
|
| 292 |
+
1512.2290244280027,
|
| 293 |
+
-129.53684320564386,
|
| 294 |
+
0.9289597611851867
|
| 295 |
+
],
|
| 296 |
+
"type": "go straight",
|
| 297 |
+
"value": 3,
|
| 298 |
+
"yaw": 0.5235987755982894
|
| 299 |
+
}
|
| 300 |
+
}
|
| 301 |
+
{
|
| 302 |
+
"action": {
|
| 303 |
+
"imageid": 23,
|
| 304 |
+
"pos": [
|
| 305 |
+
1514.827100639356,
|
| 306 |
+
-128.03684320564386,
|
| 307 |
+
0.9289597611851867
|
| 308 |
+
],
|
| 309 |
+
"type": "go straight",
|
| 310 |
+
"value": 3,
|
| 311 |
+
"yaw": 0.5235987755982894
|
| 312 |
+
}
|
| 313 |
+
}
|
| 314 |
+
{
|
| 315 |
+
"action": {
|
| 316 |
+
"imageid": 24,
|
| 317 |
+
"pos": [
|
| 318 |
+
1517.4251768507095,
|
| 319 |
+
-126.53684320564386,
|
| 320 |
+
0.9289597611851867
|
| 321 |
+
],
|
| 322 |
+
"type": "go straight",
|
| 323 |
+
"value": 3,
|
| 324 |
+
"yaw": 0.5235987755982894
|
| 325 |
+
}
|
| 326 |
+
}
|
| 327 |
+
{
|
| 328 |
+
"action": {
|
| 329 |
+
"imageid": 25,
|
| 330 |
+
"pos": [
|
| 331 |
+
1520.0232530620628,
|
| 332 |
+
-125.03684320564386,
|
| 333 |
+
0.9289597611851867
|
| 334 |
+
],
|
| 335 |
+
"type": "go straight",
|
| 336 |
+
"value": 3,
|
| 337 |
+
"yaw": 0.5235987755982894
|
| 338 |
+
}
|
| 339 |
+
}
|
| 340 |
+
{
|
| 341 |
+
"action": {
|
| 342 |
+
"imageid": 26,
|
| 343 |
+
"pos": [
|
| 344 |
+
1522.6213292734162,
|
| 345 |
+
-123.53684320564386,
|
| 346 |
+
0.9289597611851867
|
| 347 |
+
],
|
| 348 |
+
"type": "go straight",
|
| 349 |
+
"value": 3,
|
| 350 |
+
"yaw": 0.5235987755982894
|
| 351 |
+
}
|
| 352 |
+
}
|
| 353 |
+
{
|
| 354 |
+
"action": {
|
| 355 |
+
"imageid": 27,
|
| 356 |
+
"pos": [
|
| 357 |
+
1525.2194054847696,
|
| 358 |
+
-122.03684320564386,
|
| 359 |
+
0.9289597611851867
|
| 360 |
+
],
|
| 361 |
+
"type": "go straight",
|
| 362 |
+
"value": 3,
|
| 363 |
+
"yaw": 0.5235987755982894
|
| 364 |
+
}
|
| 365 |
+
}
|
| 366 |
+
{
|
| 367 |
+
"action": {
|
| 368 |
+
"imageid": 28,
|
| 369 |
+
"pos": [
|
| 370 |
+
1527.817481696123,
|
| 371 |
+
-120.53684320564386,
|
| 372 |
+
0.9289597611851867
|
| 373 |
+
],
|
| 374 |
+
"type": "go straight",
|
| 375 |
+
"value": 3,
|
| 376 |
+
"yaw": 0.5235987755982894
|
| 377 |
+
}
|
| 378 |
+
}
|
| 379 |
+
{
|
| 380 |
+
"action": {
|
| 381 |
+
"imageid": 29,
|
| 382 |
+
"pos": [
|
| 383 |
+
1530.4155579074763,
|
| 384 |
+
-119.03684320564386,
|
| 385 |
+
0.9289597611851867
|
| 386 |
+
],
|
| 387 |
+
"type": "go straight",
|
| 388 |
+
"value": 3,
|
| 389 |
+
"yaw": 0.5235987755982894
|
| 390 |
+
}
|
| 391 |
+
}
|
| 392 |
+
{
|
| 393 |
+
"action": {
|
| 394 |
+
"imageid": 30,
|
| 395 |
+
"pos": [
|
| 396 |
+
1533.0136341188297,
|
| 397 |
+
-117.53684320564386,
|
| 398 |
+
0.9289597611851867
|
| 399 |
+
],
|
| 400 |
+
"type": "go straight",
|
| 401 |
+
"value": 3,
|
| 402 |
+
"yaw": 0.5235987755982894
|
| 403 |
+
}
|
| 404 |
+
}
|
| 405 |
+
{
|
| 406 |
+
"action": {
|
| 407 |
+
"imageid": 31,
|
| 408 |
+
"pos": [
|
| 409 |
+
1535.611710330183,
|
| 410 |
+
-116.03684320564386,
|
| 411 |
+
0.9289597611851867
|
| 412 |
+
],
|
| 413 |
+
"type": "go straight",
|
| 414 |
+
"value": 3,
|
| 415 |
+
"yaw": 0.5235987755982894
|
| 416 |
+
}
|
| 417 |
+
}
|
| 418 |
+
{
|
| 419 |
+
"action": {
|
| 420 |
+
"imageid": 32,
|
| 421 |
+
"pos": [
|
| 422 |
+
1538.2097865415365,
|
| 423 |
+
-114.53684320564386,
|
| 424 |
+
0.9289597611851867
|
| 425 |
+
],
|
| 426 |
+
"type": "go straight",
|
| 427 |
+
"value": 3,
|
| 428 |
+
"yaw": 0.5235987755982894
|
| 429 |
+
}
|
| 430 |
+
}
|
| 431 |
+
{
|
| 432 |
+
"action": {
|
| 433 |
+
"imageid": 33,
|
| 434 |
+
"pos": [
|
| 435 |
+
1540.8078627528898,
|
| 436 |
+
-113.03684320564386,
|
| 437 |
+
0.9289597611851867
|
| 438 |
+
],
|
| 439 |
+
"type": "go straight",
|
| 440 |
+
"value": 3,
|
| 441 |
+
"yaw": 0.5235987755982894
|
| 442 |
+
}
|
| 443 |
+
}
|
| 444 |
+
{
|
| 445 |
+
"action": {
|
| 446 |
+
"imageid": 34,
|
| 447 |
+
"pos": [
|
| 448 |
+
1543.4059389642432,
|
| 449 |
+
-111.53684320564386,
|
| 450 |
+
0.9289597611851867
|
| 451 |
+
],
|
| 452 |
+
"type": "go straight",
|
| 453 |
+
"value": 3,
|
| 454 |
+
"yaw": 0.5235987755982894
|
| 455 |
+
}
|
| 456 |
+
}
|
| 457 |
+
{
|
| 458 |
+
"action": {
|
| 459 |
+
"imageid": 35,
|
| 460 |
+
"pos": [
|
| 461 |
+
1546.0040151755966,
|
| 462 |
+
-110.03684320564386,
|
| 463 |
+
0.9289597611851867
|
| 464 |
+
],
|
| 465 |
+
"type": "go straight",
|
| 466 |
+
"value": 3,
|
| 467 |
+
"yaw": 0.5235987755982894
|
| 468 |
+
}
|
| 469 |
+
}
|
| 470 |
+
{
|
| 471 |
+
"action": {
|
| 472 |
+
"imageid": 36,
|
| 473 |
+
"pos": [
|
| 474 |
+
1548.60209138695,
|
| 475 |
+
-108.53684320564386,
|
| 476 |
+
0.9289597611851867
|
| 477 |
+
],
|
| 478 |
+
"type": "go straight",
|
| 479 |
+
"value": 3,
|
| 480 |
+
"yaw": 0.5235987755982894
|
| 481 |
+
}
|
| 482 |
+
}
|
| 483 |
+
{
|
| 484 |
+
"action": {
|
| 485 |
+
"imageid": 37,
|
| 486 |
+
"pos": [
|
| 487 |
+
1551.2001675983033,
|
| 488 |
+
-107.03684320564386,
|
| 489 |
+
0.9289597611851867
|
| 490 |
+
],
|
| 491 |
+
"type": "go straight",
|
| 492 |
+
"value": 3,
|
| 493 |
+
"yaw": 0.5235987755982894
|
| 494 |
+
}
|
| 495 |
+
}
|
| 496 |
+
{
|
| 497 |
+
"action": {
|
| 498 |
+
"imageid": 38,
|
| 499 |
+
"pos": [
|
| 500 |
+
1553.7982438096567,
|
| 501 |
+
-105.53684320564386,
|
| 502 |
+
0.9289597611851867
|
| 503 |
+
],
|
| 504 |
+
"type": "go straight",
|
| 505 |
+
"value": 3,
|
| 506 |
+
"yaw": 0.5235987755982894
|
| 507 |
+
}
|
| 508 |
+
}
|
| 509 |
+
{
|
| 510 |
+
"action": {
|
| 511 |
+
"imageid": 39,
|
| 512 |
+
"pos": [
|
| 513 |
+
1556.39632002101,
|
| 514 |
+
-104.03684320564386,
|
| 515 |
+
0.9289597611851867
|
| 516 |
+
],
|
| 517 |
+
"type": "turn left",
|
| 518 |
+
"value": 30,
|
| 519 |
+
"yaw": 0.5235987755982894
|
| 520 |
+
}
|
| 521 |
+
}
|
| 522 |
+
{
|
| 523 |
+
"action": {
|
| 524 |
+
"imageid": 40,
|
| 525 |
+
"pos": [
|
| 526 |
+
1556.39632002101,
|
| 527 |
+
-104.03684320564386,
|
| 528 |
+
0.9289597611851867
|
| 529 |
+
],
|
| 530 |
+
"type": "go straight",
|
| 531 |
+
"value": 3,
|
| 532 |
+
"yaw": 1.047197551196588
|
| 533 |
+
}
|
| 534 |
+
}
|
| 535 |
+
{
|
| 536 |
+
"action": {
|
| 537 |
+
"imageid": 41,
|
| 538 |
+
"pos": [
|
| 539 |
+
1557.89632002101,
|
| 540 |
+
-101.43876699429055,
|
| 541 |
+
0.9289597611851867
|
| 542 |
+
],
|
| 543 |
+
"type": "go straight",
|
| 544 |
+
"value": 3,
|
| 545 |
+
"yaw": 1.0471975511965979
|
| 546 |
+
}
|
| 547 |
+
}
|
| 548 |
+
{
|
| 549 |
+
"action": {
|
| 550 |
+
"imageid": 42,
|
| 551 |
+
"pos": [
|
| 552 |
+
1559.39632002101,
|
| 553 |
+
-98.84069078293723,
|
| 554 |
+
0.9289597611851867
|
| 555 |
+
],
|
| 556 |
+
"type": "stop",
|
| 557 |
+
"value": 0,
|
| 558 |
+
"yaw": 1.0471975511965979
|
| 559 |
+
}
|
| 560 |
+
}
|
| 561 |
+
{
|
| 562 |
+
"aim_landmark": {
|
| 563 |
+
"color": "test",
|
| 564 |
+
"feature": "test",
|
| 565 |
+
"position": [
|
| 566 |
+
1559.5110931396484,
|
| 567 |
+
-96.07600393295289,
|
| 568 |
+
0.0
|
| 569 |
+
],
|
| 570 |
+
"shape": "test",
|
| 571 |
+
"size": "test",
|
| 572 |
+
"type": "building"
|
| 573 |
+
}
|
| 574 |
+
}
|
Image/env_gs_nwpu02/astar_data/long/2025-1-16_15-1-54_1374344043/pose.jsonl
ADDED
|
@@ -0,0 +1,717 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
1440.7314938110808,
|
| 6 |
+
76.17486118999479,
|
| 7 |
+
-4.98743236775032
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -1.5707963267948966
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
1440.7314938110808,
|
| 19 |
+
73.17486118999479,
|
| 20 |
+
-4.98743236775032
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -1.5707963267948966
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
1440.7314938110808,
|
| 32 |
+
70.17486118999479,
|
| 33 |
+
-4.98743236775032
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -1.5707963267948966
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
1440.7314938110808,
|
| 45 |
+
67.17486118999479,
|
| 46 |
+
-4.98743236775032
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -1.5707963267948966
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
1440.7314938110808,
|
| 58 |
+
64.17486118999479,
|
| 59 |
+
-4.98743236775032
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -1.5707963267948966
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
1440.7314938110808,
|
| 71 |
+
61.174861189994786,
|
| 72 |
+
-4.98743236775032
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -1.5707963267948966
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
1440.7314938110808,
|
| 84 |
+
58.174861189994786,
|
| 85 |
+
-4.98743236775032
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -1.5707963267948966
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
1440.7314938110808,
|
| 97 |
+
55.174861189994786,
|
| 98 |
+
-4.98743236775032
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -1.5707963267948966
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
1440.7314938110808,
|
| 110 |
+
52.174861189994786,
|
| 111 |
+
-4.98743236775032
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -1.5707963267948966
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
1440.7314938110808,
|
| 123 |
+
49.174861189994786,
|
| 124 |
+
-4.98743236775032
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -1.5707963267948966
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
1440.7314938110808,
|
| 136 |
+
46.174861189994786,
|
| 137 |
+
-4.98743236775032
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -1.5707963267948966
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
1440.7314938110808,
|
| 149 |
+
43.174861189994786,
|
| 150 |
+
-4.98743236775032
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -1.5707963267948966
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
1440.7314938110808,
|
| 162 |
+
40.174861189994786,
|
| 163 |
+
-4.98743236775032
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -1.5707963267948966
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
1440.7314938110808,
|
| 175 |
+
37.174861189994786,
|
| 176 |
+
-4.98743236775032
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -1.5707963267948966
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
1440.7314938110808,
|
| 188 |
+
34.174861189994786,
|
| 189 |
+
-4.98743236775032
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -1.5707963267948966
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
1440.7314938110808,
|
| 201 |
+
31.174861189994786,
|
| 202 |
+
-4.98743236775032
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -1.5707963267948966
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
1440.7314938110808,
|
| 214 |
+
28.174861189994786,
|
| 215 |
+
-4.98743236775032
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -1.5707963267948966
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
1440.7314938110808,
|
| 227 |
+
25.174861189994786,
|
| 228 |
+
-4.98743236775032
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": -1.5707963267948966
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
1440.7314938110808,
|
| 240 |
+
22.174861189994786,
|
| 241 |
+
-4.98743236775032
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": -1.5707963267948966
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
1440.7314938110808,
|
| 253 |
+
19.174861189994786,
|
| 254 |
+
-4.98743236775032
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": -1.5707963267948966
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
1440.7314938110808,
|
| 266 |
+
16.174861189994786,
|
| 267 |
+
-4.98743236775032
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": -1.5707963267948966
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
1440.7314938110808,
|
| 279 |
+
13.174861189994786,
|
| 280 |
+
-4.98743236775032
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": -1.5707963267948966
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
1440.7314938110808,
|
| 292 |
+
10.174861189994786,
|
| 293 |
+
-4.98743236775032
|
| 294 |
+
],
|
| 295 |
+
"type": "turn left",
|
| 296 |
+
"value": 30,
|
| 297 |
+
"yaw": -1.5707963267948966
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
1440.7314938110808,
|
| 305 |
+
10.174861189994786,
|
| 306 |
+
-4.98743236775032
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": -1.0471975511965979
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
1442.2314938110808,
|
| 318 |
+
7.57678497864147,
|
| 319 |
+
-4.98743236775032
|
| 320 |
+
],
|
| 321 |
+
"type": "go straight",
|
| 322 |
+
"value": 3,
|
| 323 |
+
"yaw": -1.0471975511965979
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"action": {
|
| 328 |
+
"imageid": 25,
|
| 329 |
+
"pos": [
|
| 330 |
+
1443.7314938110808,
|
| 331 |
+
4.978708767288154,
|
| 332 |
+
-4.98743236775032
|
| 333 |
+
],
|
| 334 |
+
"type": "go straight",
|
| 335 |
+
"value": 3,
|
| 336 |
+
"yaw": -1.0471975511965979
|
| 337 |
+
}
|
| 338 |
+
}
|
| 339 |
+
{
|
| 340 |
+
"action": {
|
| 341 |
+
"imageid": 26,
|
| 342 |
+
"pos": [
|
| 343 |
+
1445.2314938110808,
|
| 344 |
+
2.380632555934838,
|
| 345 |
+
-4.98743236775032
|
| 346 |
+
],
|
| 347 |
+
"type": "go straight",
|
| 348 |
+
"value": 3,
|
| 349 |
+
"yaw": -1.0471975511965979
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
{
|
| 353 |
+
"aim_landmark": {
|
| 354 |
+
"color": "test",
|
| 355 |
+
"feature": "test",
|
| 356 |
+
"position": [
|
| 357 |
+
1448.3586029052735,
|
| 358 |
+
-0.4004184722900391,
|
| 359 |
+
0.0
|
| 360 |
+
],
|
| 361 |
+
"shape": "test",
|
| 362 |
+
"size": "test",
|
| 363 |
+
"type": "building"
|
| 364 |
+
}
|
| 365 |
+
}
|
| 366 |
+
{
|
| 367 |
+
"action": {
|
| 368 |
+
"imageid": 28,
|
| 369 |
+
"pos": [
|
| 370 |
+
1446.7314938110808,
|
| 371 |
+
-0.217443655418478,
|
| 372 |
+
-4.98743236775032
|
| 373 |
+
],
|
| 374 |
+
"type": "turn left",
|
| 375 |
+
"value": 30,
|
| 376 |
+
"yaw": -1.0471975511965979
|
| 377 |
+
}
|
| 378 |
+
}
|
| 379 |
+
{
|
| 380 |
+
"action": {
|
| 381 |
+
"imageid": 29,
|
| 382 |
+
"pos": [
|
| 383 |
+
1446.7314938110808,
|
| 384 |
+
-0.217443655418478,
|
| 385 |
+
-4.98743236775032
|
| 386 |
+
],
|
| 387 |
+
"type": "turn left",
|
| 388 |
+
"value": 30,
|
| 389 |
+
"yaw": -0.523598775598299
|
| 390 |
+
}
|
| 391 |
+
}
|
| 392 |
+
{
|
| 393 |
+
"action": {
|
| 394 |
+
"imageid": 30,
|
| 395 |
+
"pos": [
|
| 396 |
+
1446.7314938110808,
|
| 397 |
+
-0.217443655418478,
|
| 398 |
+
-4.98743236775032
|
| 399 |
+
],
|
| 400 |
+
"type": "turn left",
|
| 401 |
+
"value": 30,
|
| 402 |
+
"yaw": -2.220446049250313e-16
|
| 403 |
+
}
|
| 404 |
+
}
|
| 405 |
+
{
|
| 406 |
+
"action": {
|
| 407 |
+
"imageid": 31,
|
| 408 |
+
"pos": [
|
| 409 |
+
1446.7314938110808,
|
| 410 |
+
-0.217443655418478,
|
| 411 |
+
-4.98743236775032
|
| 412 |
+
],
|
| 413 |
+
"type": "go straight",
|
| 414 |
+
"value": 3,
|
| 415 |
+
"yaw": 0.0
|
| 416 |
+
}
|
| 417 |
+
}
|
| 418 |
+
{
|
| 419 |
+
"action": {
|
| 420 |
+
"imageid": 32,
|
| 421 |
+
"pos": [
|
| 422 |
+
1449.7314938110808,
|
| 423 |
+
-0.217443655418478,
|
| 424 |
+
-4.98743236775032
|
| 425 |
+
],
|
| 426 |
+
"type": "go straight",
|
| 427 |
+
"value": 3,
|
| 428 |
+
"yaw": 0.0
|
| 429 |
+
}
|
| 430 |
+
}
|
| 431 |
+
{
|
| 432 |
+
"action": {
|
| 433 |
+
"imageid": 33,
|
| 434 |
+
"pos": [
|
| 435 |
+
1452.7314938110808,
|
| 436 |
+
-0.217443655418478,
|
| 437 |
+
-4.98743236775032
|
| 438 |
+
],
|
| 439 |
+
"type": "go straight",
|
| 440 |
+
"value": 3,
|
| 441 |
+
"yaw": 0.0
|
| 442 |
+
}
|
| 443 |
+
}
|
| 444 |
+
{
|
| 445 |
+
"action": {
|
| 446 |
+
"imageid": 34,
|
| 447 |
+
"pos": [
|
| 448 |
+
1455.7314938110808,
|
| 449 |
+
-0.217443655418478,
|
| 450 |
+
-4.98743236775032
|
| 451 |
+
],
|
| 452 |
+
"type": "go straight",
|
| 453 |
+
"value": 3,
|
| 454 |
+
"yaw": 0.0
|
| 455 |
+
}
|
| 456 |
+
}
|
| 457 |
+
{
|
| 458 |
+
"action": {
|
| 459 |
+
"imageid": 35,
|
| 460 |
+
"pos": [
|
| 461 |
+
1458.7314938110808,
|
| 462 |
+
-0.217443655418478,
|
| 463 |
+
-4.98743236775032
|
| 464 |
+
],
|
| 465 |
+
"type": "go straight",
|
| 466 |
+
"value": 3,
|
| 467 |
+
"yaw": 0.0
|
| 468 |
+
}
|
| 469 |
+
}
|
| 470 |
+
{
|
| 471 |
+
"action": {
|
| 472 |
+
"imageid": 36,
|
| 473 |
+
"pos": [
|
| 474 |
+
1461.7314938110808,
|
| 475 |
+
-0.217443655418478,
|
| 476 |
+
-4.98743236775032
|
| 477 |
+
],
|
| 478 |
+
"type": "go straight",
|
| 479 |
+
"value": 3,
|
| 480 |
+
"yaw": 0.0
|
| 481 |
+
}
|
| 482 |
+
}
|
| 483 |
+
{
|
| 484 |
+
"action": {
|
| 485 |
+
"imageid": 37,
|
| 486 |
+
"pos": [
|
| 487 |
+
1464.7314938110808,
|
| 488 |
+
-0.217443655418478,
|
| 489 |
+
-4.98743236775032
|
| 490 |
+
],
|
| 491 |
+
"type": "turn right",
|
| 492 |
+
"value": 30,
|
| 493 |
+
"yaw": 0.0
|
| 494 |
+
}
|
| 495 |
+
}
|
| 496 |
+
{
|
| 497 |
+
"action": {
|
| 498 |
+
"imageid": 38,
|
| 499 |
+
"pos": [
|
| 500 |
+
1464.7314938110808,
|
| 501 |
+
-0.217443655418478,
|
| 502 |
+
-4.98743236775032
|
| 503 |
+
],
|
| 504 |
+
"type": "go straight",
|
| 505 |
+
"value": 3,
|
| 506 |
+
"yaw": -0.5235987755982988
|
| 507 |
+
}
|
| 508 |
+
}
|
| 509 |
+
{
|
| 510 |
+
"action": {
|
| 511 |
+
"imageid": 39,
|
| 512 |
+
"pos": [
|
| 513 |
+
1467.3295700224342,
|
| 514 |
+
-1.7174436554184778,
|
| 515 |
+
-4.98743236775032
|
| 516 |
+
],
|
| 517 |
+
"type": "go straight",
|
| 518 |
+
"value": 3,
|
| 519 |
+
"yaw": -0.5235987755982893
|
| 520 |
+
}
|
| 521 |
+
}
|
| 522 |
+
{
|
| 523 |
+
"action": {
|
| 524 |
+
"imageid": 40,
|
| 525 |
+
"pos": [
|
| 526 |
+
1469.9276462337875,
|
| 527 |
+
-3.2174436554184775,
|
| 528 |
+
-4.98743236775032
|
| 529 |
+
],
|
| 530 |
+
"type": "go straight",
|
| 531 |
+
"value": 3,
|
| 532 |
+
"yaw": -0.5235987755982893
|
| 533 |
+
}
|
| 534 |
+
}
|
| 535 |
+
{
|
| 536 |
+
"action": {
|
| 537 |
+
"imageid": 41,
|
| 538 |
+
"pos": [
|
| 539 |
+
1472.525722445141,
|
| 540 |
+
-4.717443655418477,
|
| 541 |
+
-4.98743236775032
|
| 542 |
+
],
|
| 543 |
+
"type": "go straight",
|
| 544 |
+
"value": 3,
|
| 545 |
+
"yaw": -0.5235987755982893
|
| 546 |
+
}
|
| 547 |
+
}
|
| 548 |
+
{
|
| 549 |
+
"action": {
|
| 550 |
+
"imageid": 42,
|
| 551 |
+
"pos": [
|
| 552 |
+
1475.1237986564943,
|
| 553 |
+
-6.217443655418477,
|
| 554 |
+
-4.98743236775032
|
| 555 |
+
],
|
| 556 |
+
"type": "go straight",
|
| 557 |
+
"value": 3,
|
| 558 |
+
"yaw": -0.5235987755982894
|
| 559 |
+
}
|
| 560 |
+
}
|
| 561 |
+
{
|
| 562 |
+
"action": {
|
| 563 |
+
"imageid": 43,
|
| 564 |
+
"pos": [
|
| 565 |
+
1477.7218748678476,
|
| 566 |
+
-7.717443655418477,
|
| 567 |
+
-4.98743236775032
|
| 568 |
+
],
|
| 569 |
+
"type": "go straight",
|
| 570 |
+
"value": 3,
|
| 571 |
+
"yaw": -0.5235987755982894
|
| 572 |
+
}
|
| 573 |
+
}
|
| 574 |
+
{
|
| 575 |
+
"action": {
|
| 576 |
+
"imageid": 44,
|
| 577 |
+
"pos": [
|
| 578 |
+
1480.319951079201,
|
| 579 |
+
-9.217443655418476,
|
| 580 |
+
-4.98743236775032
|
| 581 |
+
],
|
| 582 |
+
"type": "go straight",
|
| 583 |
+
"value": 3,
|
| 584 |
+
"yaw": -0.5235987755982892
|
| 585 |
+
}
|
| 586 |
+
}
|
| 587 |
+
{
|
| 588 |
+
"action": {
|
| 589 |
+
"imageid": 45,
|
| 590 |
+
"pos": [
|
| 591 |
+
1482.9180272905544,
|
| 592 |
+
-10.717443655418476,
|
| 593 |
+
-4.98743236775032
|
| 594 |
+
],
|
| 595 |
+
"type": "go straight",
|
| 596 |
+
"value": 3,
|
| 597 |
+
"yaw": -0.5235987755982894
|
| 598 |
+
}
|
| 599 |
+
}
|
| 600 |
+
{
|
| 601 |
+
"action": {
|
| 602 |
+
"imageid": 46,
|
| 603 |
+
"pos": [
|
| 604 |
+
1485.5161035019078,
|
| 605 |
+
-12.217443655418476,
|
| 606 |
+
-4.98743236775032
|
| 607 |
+
],
|
| 608 |
+
"type": "go straight",
|
| 609 |
+
"value": 3,
|
| 610 |
+
"yaw": -0.5235987755982894
|
| 611 |
+
}
|
| 612 |
+
}
|
| 613 |
+
{
|
| 614 |
+
"action": {
|
| 615 |
+
"imageid": 47,
|
| 616 |
+
"pos": [
|
| 617 |
+
1488.1141797132611,
|
| 618 |
+
-13.717443655418476,
|
| 619 |
+
-4.98743236775032
|
| 620 |
+
],
|
| 621 |
+
"type": "go straight",
|
| 622 |
+
"value": 3,
|
| 623 |
+
"yaw": -0.5235987755982894
|
| 624 |
+
}
|
| 625 |
+
}
|
| 626 |
+
{
|
| 627 |
+
"action": {
|
| 628 |
+
"imageid": 48,
|
| 629 |
+
"pos": [
|
| 630 |
+
1490.7122559246145,
|
| 631 |
+
-15.217443655418476,
|
| 632 |
+
-4.98743236775032
|
| 633 |
+
],
|
| 634 |
+
"type": "go straight",
|
| 635 |
+
"value": 3,
|
| 636 |
+
"yaw": -0.5235987755982894
|
| 637 |
+
}
|
| 638 |
+
}
|
| 639 |
+
{
|
| 640 |
+
"action": {
|
| 641 |
+
"imageid": 49,
|
| 642 |
+
"pos": [
|
| 643 |
+
1493.3103321359679,
|
| 644 |
+
-16.717443655418474,
|
| 645 |
+
-4.98743236775032
|
| 646 |
+
],
|
| 647 |
+
"type": "go straight",
|
| 648 |
+
"value": 3,
|
| 649 |
+
"yaw": -0.5235987755982888
|
| 650 |
+
}
|
| 651 |
+
}
|
| 652 |
+
{
|
| 653 |
+
"action": {
|
| 654 |
+
"imageid": 50,
|
| 655 |
+
"pos": [
|
| 656 |
+
1495.9084083473213,
|
| 657 |
+
-18.217443655418474,
|
| 658 |
+
-4.98743236775032
|
| 659 |
+
],
|
| 660 |
+
"type": "go straight",
|
| 661 |
+
"value": 3,
|
| 662 |
+
"yaw": -0.5235987755982894
|
| 663 |
+
}
|
| 664 |
+
}
|
| 665 |
+
{
|
| 666 |
+
"action": {
|
| 667 |
+
"imageid": 51,
|
| 668 |
+
"pos": [
|
| 669 |
+
1498.5064845586746,
|
| 670 |
+
-19.717443655418474,
|
| 671 |
+
-4.98743236775032
|
| 672 |
+
],
|
| 673 |
+
"type": "go straight",
|
| 674 |
+
"value": 3,
|
| 675 |
+
"yaw": -0.5235987755982894
|
| 676 |
+
}
|
| 677 |
+
}
|
| 678 |
+
{
|
| 679 |
+
"action": {
|
| 680 |
+
"imageid": 52,
|
| 681 |
+
"pos": [
|
| 682 |
+
1501.104560770028,
|
| 683 |
+
-21.217443655418474,
|
| 684 |
+
-4.98743236775032
|
| 685 |
+
],
|
| 686 |
+
"type": "go straight",
|
| 687 |
+
"value": 3,
|
| 688 |
+
"yaw": -0.5235987755982894
|
| 689 |
+
}
|
| 690 |
+
}
|
| 691 |
+
{
|
| 692 |
+
"action": {
|
| 693 |
+
"imageid": 53,
|
| 694 |
+
"pos": [
|
| 695 |
+
1503.7026369813814,
|
| 696 |
+
-22.717443655418474,
|
| 697 |
+
-4.98743236775032
|
| 698 |
+
],
|
| 699 |
+
"type": "stop",
|
| 700 |
+
"value": 0,
|
| 701 |
+
"yaw": -0.5235987755982894
|
| 702 |
+
}
|
| 703 |
+
}
|
| 704 |
+
{
|
| 705 |
+
"aim_landmark": {
|
| 706 |
+
"color": "test",
|
| 707 |
+
"feature": "test",
|
| 708 |
+
"position": [
|
| 709 |
+
1520.3544021606447,
|
| 710 |
+
-28.02864229679108,
|
| 711 |
+
0.0
|
| 712 |
+
],
|
| 713 |
+
"shape": "test",
|
| 714 |
+
"size": "test",
|
| 715 |
+
"type": "building"
|
| 716 |
+
}
|
| 717 |
+
}
|