Hugging Face's logo

Datasets:
IPEC-COMMUNITY
/
OpenFly

License:
Dataset card Files
xet
 Community
mistletoe235 commited on
Commit
2b14439
·
verified ·
1 Parent(s): 0df3474

Add files using upload-large-folder tool

Browse files
Files changed (9) hide show
  1. Image/env_gs_nwpu01/astar_data/long/2025-1-13_12-41-17_1656478042/pose.jsonl +652 -0
  2. Image/env_gs_nwpu01/astar_data/long/2025-1-13_12-57-58_610515434/pose.jsonl +769 -0
  3. Image/env_gs_nwpu01/astar_data/long/2025-1-13_13-1-55_1780695788/pose.jsonl +665 -0
  4. Image/env_gs_nwpu01/astar_data/long/2025-1-13_13-29-42_515530019/pose.jsonl +704 -0
  5. Image/env_gs_nwpu01/astar_data/long/2025-1-13_13-38-42_438792350/pose.jsonl +691 -0
  6. Image/env_gs_nwpu01/astar_data/long/2025-1-13_14-37-11_2114738097/pose.jsonl +665 -0
  7. Image/env_gs_nwpu01/astar_data/long/2025-1-13_14-39-54_631704567/pose.jsonl +678 -0
  8. Image/env_gs_nwpu01/astar_data/long/2025-1-13_14-48-32_1373226340/pose.jsonl +782 -0
  9. Image/env_gs_nwpu01/astar_data/long/2025-1-13_14-59-14_1275373743/pose.jsonl +717 -0
Image/env_gs_nwpu01/astar_data/long/2025-1-13_12-41-17_1656478042/pose.jsonl ADDED
@@ -0,0 +1,652 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -177.69137287629587,
6
+ 131.16245848718563,
7
+ -14.46298051335821
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -1.5707963267948966
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -177.69137287629587,
19
+ 128.16245848718563,
20
+ -14.46298051335821
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -1.5707963267948966
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -177.69137287629587,
32
+ 125.16245848718563,
33
+ -14.46298051335821
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -1.5707963267948966
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -177.69137287629587,
45
+ 122.16245848718563,
46
+ -14.46298051335821
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -1.5707963267948966
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -177.69137287629587,
58
+ 119.16245848718563,
59
+ -14.46298051335821
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -1.5707963267948966
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -177.69137287629587,
71
+ 116.16245848718563,
72
+ -14.46298051335821
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -1.5707963267948966
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -177.69137287629587,
84
+ 113.16245848718563,
85
+ -14.46298051335821
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -1.5707963267948966
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -177.69137287629587,
97
+ 110.16245848718563,
98
+ -14.46298051335821
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -1.5707963267948966
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -177.69137287629587,
110
+ 107.16245848718563,
111
+ -14.46298051335821
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -1.5707963267948966
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -177.69137287629587,
123
+ 104.16245848718563,
124
+ -14.46298051335821
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -1.5707963267948966
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -177.69137287629587,
136
+ 101.16245848718563,
137
+ -14.46298051335821
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -1.5707963267948966
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -177.69137287629587,
149
+ 98.16245848718563,
150
+ -14.46298051335821
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -1.5707963267948966
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -177.69137287629587,
162
+ 95.16245848718563,
163
+ -14.46298051335821
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -1.5707963267948966
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -177.69137287629587,
175
+ 92.16245848718563,
176
+ -14.46298051335821
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -1.5707963267948966
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -177.69137287629587,
188
+ 89.16245848718563,
189
+ -14.46298051335821
190
+ ],
191
+ "type": "turn right",
192
+ "value": 30,
193
+ "yaw": -1.5707963267948966
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -177.69137287629587,
201
+ 89.16245848718563,
202
+ -14.46298051335821
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -2.0943951023931953
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -179.19137287629587,
214
+ 86.56438227583232,
215
+ -14.46298051335821
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -2.0943951023931953
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -180.69137287629587,
227
+ 83.966306064479,
228
+ -14.46298051335821
229
+ ],
230
+ "type": "turn right",
231
+ "value": 30,
232
+ "yaw": -2.0943951023931953
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -180.69137287629587,
240
+ 83.966306064479,
241
+ -14.46298051335821
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -2.617993877991494
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -183.2894490876492,
253
+ 82.466306064479,
254
+ -14.46298051335821
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -2.6179938779914944
259
+ }
260
+ }
261
+ {
262
+ "aim_landmark": {
263
+ "color": "test",
264
+ "feature": "test",
265
+ "position": [
266
+ -186.17330045700075,
267
+ 79.25256423950195,
268
+ 0.0
269
+ ],
270
+ "shape": "test",
271
+ "size": "test",
272
+ "type": "building"
273
+ }
274
+ }
275
+ {
276
+ "action": {
277
+ "imageid": 21,
278
+ "pos": [
279
+ -185.8875252990025,
280
+ 80.966306064479,
281
+ -14.46298051335821
282
+ ],
283
+ "type": "turn left",
284
+ "value": 30,
285
+ "yaw": -2.6179938779914944
286
+ }
287
+ }
288
+ {
289
+ "action": {
290
+ "imageid": 22,
291
+ "pos": [
292
+ -185.8875252990025,
293
+ 80.966306064479,
294
+ -14.46298051335821
295
+ ],
296
+ "type": "turn left",
297
+ "value": 30,
298
+ "yaw": -2.0943951023931957
299
+ }
300
+ }
301
+ {
302
+ "action": {
303
+ "imageid": 23,
304
+ "pos": [
305
+ -185.8875252990025,
306
+ 80.966306064479,
307
+ -14.46298051335821
308
+ ],
309
+ "type": "turn left",
310
+ "value": 30,
311
+ "yaw": -1.5707963267948968
312
+ }
313
+ }
314
+ {
315
+ "action": {
316
+ "imageid": 24,
317
+ "pos": [
318
+ -185.8875252990025,
319
+ 80.966306064479,
320
+ -14.46298051335821
321
+ ],
322
+ "type": "turn left",
323
+ "value": 30,
324
+ "yaw": -1.0471975511965979
325
+ }
326
+ }
327
+ {
328
+ "action": {
329
+ "imageid": 25,
330
+ "pos": [
331
+ -185.8875252990025,
332
+ 80.966306064479,
333
+ -14.46298051335821
334
+ ],
335
+ "type": "turn left",
336
+ "value": 30,
337
+ "yaw": -0.5235987755982991
338
+ }
339
+ }
340
+ {
341
+ "action": {
342
+ "imageid": 26,
343
+ "pos": [
344
+ -185.8875252990025,
345
+ 80.966306064479,
346
+ -14.46298051335821
347
+ ],
348
+ "type": "turn left",
349
+ "value": 30,
350
+ "yaw": -4.440892098500626e-16
351
+ }
352
+ }
353
+ {
354
+ "action": {
355
+ "imageid": 27,
356
+ "pos": [
357
+ -185.8875252990025,
358
+ 80.966306064479,
359
+ -14.46298051335821
360
+ ],
361
+ "type": "go straight",
362
+ "value": 3,
363
+ "yaw": 0.0
364
+ }
365
+ }
366
+ {
367
+ "action": {
368
+ "imageid": 28,
369
+ "pos": [
370
+ -182.8875252990025,
371
+ 80.966306064479,
372
+ -14.46298051335821
373
+ ],
374
+ "type": "go straight",
375
+ "value": 3,
376
+ "yaw": 0.0
377
+ }
378
+ }
379
+ {
380
+ "action": {
381
+ "imageid": 29,
382
+ "pos": [
383
+ -179.8875252990025,
384
+ 80.966306064479,
385
+ -14.46298051335821
386
+ ],
387
+ "type": "go straight",
388
+ "value": 3,
389
+ "yaw": 0.0
390
+ }
391
+ }
392
+ {
393
+ "action": {
394
+ "imageid": 30,
395
+ "pos": [
396
+ -176.8875252990025,
397
+ 80.966306064479,
398
+ -14.46298051335821
399
+ ],
400
+ "type": "go straight",
401
+ "value": 3,
402
+ "yaw": 0.0
403
+ }
404
+ }
405
+ {
406
+ "action": {
407
+ "imageid": 31,
408
+ "pos": [
409
+ -173.8875252990025,
410
+ 80.966306064479,
411
+ -14.46298051335821
412
+ ],
413
+ "type": "turn right",
414
+ "value": 30,
415
+ "yaw": 0.0
416
+ }
417
+ }
418
+ {
419
+ "action": {
420
+ "imageid": 32,
421
+ "pos": [
422
+ -173.8875252990025,
423
+ 80.966306064479,
424
+ -14.46298051335821
425
+ ],
426
+ "type": "go straight",
427
+ "value": 3,
428
+ "yaw": -0.5235987755982988
429
+ }
430
+ }
431
+ {
432
+ "action": {
433
+ "imageid": 33,
434
+ "pos": [
435
+ -171.2894490876492,
436
+ 79.466306064479,
437
+ -14.46298051335821
438
+ ],
439
+ "type": "go straight",
440
+ "value": 3,
441
+ "yaw": -0.5235987755982988
442
+ }
443
+ }
444
+ {
445
+ "action": {
446
+ "imageid": 34,
447
+ "pos": [
448
+ -168.69137287629587,
449
+ 77.966306064479,
450
+ -14.46298051335821
451
+ ],
452
+ "type": "go straight",
453
+ "value": 3,
454
+ "yaw": -0.5235987755982988
455
+ }
456
+ }
457
+ {
458
+ "action": {
459
+ "imageid": 35,
460
+ "pos": [
461
+ -166.09329666494256,
462
+ 76.466306064479,
463
+ -14.46298051335821
464
+ ],
465
+ "type": "go straight",
466
+ "value": 3,
467
+ "yaw": -0.5235987755982988
468
+ }
469
+ }
470
+ {
471
+ "action": {
472
+ "imageid": 36,
473
+ "pos": [
474
+ -163.49522045358924,
475
+ 74.966306064479,
476
+ -14.46298051335821
477
+ ],
478
+ "type": "go straight",
479
+ "value": 3,
480
+ "yaw": -0.5235987755982988
481
+ }
482
+ }
483
+ {
484
+ "action": {
485
+ "imageid": 37,
486
+ "pos": [
487
+ -160.89714424223592,
488
+ 73.466306064479,
489
+ -14.46298051335821
490
+ ],
491
+ "type": "go straight",
492
+ "value": 3,
493
+ "yaw": -0.5235987755982988
494
+ }
495
+ }
496
+ {
497
+ "action": {
498
+ "imageid": 38,
499
+ "pos": [
500
+ -158.2990680308826,
501
+ 71.966306064479,
502
+ -14.46298051335821
503
+ ],
504
+ "type": "go straight",
505
+ "value": 3,
506
+ "yaw": -0.5235987755982988
507
+ }
508
+ }
509
+ {
510
+ "action": {
511
+ "imageid": 39,
512
+ "pos": [
513
+ -155.7009918195293,
514
+ 70.466306064479,
515
+ -14.46298051335821
516
+ ],
517
+ "type": "go straight",
518
+ "value": 3,
519
+ "yaw": -0.5235987755982988
520
+ }
521
+ }
522
+ {
523
+ "action": {
524
+ "imageid": 40,
525
+ "pos": [
526
+ -153.10291560817598,
527
+ 68.966306064479,
528
+ -14.46298051335821
529
+ ],
530
+ "type": "go straight",
531
+ "value": 3,
532
+ "yaw": -0.5235987755982988
533
+ }
534
+ }
535
+ {
536
+ "action": {
537
+ "imageid": 41,
538
+ "pos": [
539
+ -150.50483939682266,
540
+ 67.466306064479,
541
+ -14.46298051335821
542
+ ],
543
+ "type": "go straight",
544
+ "value": 3,
545
+ "yaw": -0.5235987755982988
546
+ }
547
+ }
548
+ {
549
+ "action": {
550
+ "imageid": 42,
551
+ "pos": [
552
+ -147.90676318546934,
553
+ 65.966306064479,
554
+ -14.46298051335821
555
+ ],
556
+ "type": "go straight",
557
+ "value": 3,
558
+ "yaw": -0.5235987755982988
559
+ }
560
+ }
561
+ {
562
+ "action": {
563
+ "imageid": 43,
564
+ "pos": [
565
+ -145.30868697411603,
566
+ 64.466306064479,
567
+ -14.46298051335821
568
+ ],
569
+ "type": "go straight",
570
+ "value": 3,
571
+ "yaw": -0.5235987755982988
572
+ }
573
+ }
574
+ {
575
+ "action": {
576
+ "imageid": 44,
577
+ "pos": [
578
+ -142.7106107627627,
579
+ 62.966306064479,
580
+ -14.46298051335821
581
+ ],
582
+ "type": "go straight",
583
+ "value": 3,
584
+ "yaw": -0.5235987755982988
585
+ }
586
+ }
587
+ {
588
+ "action": {
589
+ "imageid": 45,
590
+ "pos": [
591
+ -140.1125345514094,
592
+ 61.466306064479,
593
+ -14.46298051335821
594
+ ],
595
+ "type": "go straight",
596
+ "value": 3,
597
+ "yaw": -0.5235987755982988
598
+ }
599
+ }
600
+ {
601
+ "action": {
602
+ "imageid": 46,
603
+ "pos": [
604
+ -137.51445834005608,
605
+ 59.966306064479,
606
+ -14.46298051335821
607
+ ],
608
+ "type": "go straight",
609
+ "value": 3,
610
+ "yaw": -0.5235987755982988
611
+ }
612
+ }
613
+ {
614
+ "action": {
615
+ "imageid": 47,
616
+ "pos": [
617
+ -134.91638212870276,
618
+ 58.466306064479,
619
+ -14.46298051335821
620
+ ],
621
+ "type": "go straight",
622
+ "value": 3,
623
+ "yaw": -0.5235987755982988
624
+ }
625
+ }
626
+ {
627
+ "action": {
628
+ "imageid": 48,
629
+ "pos": [
630
+ -132.31830591734945,
631
+ 56.966306064479,
632
+ -14.46298051335821
633
+ ],
634
+ "type": "stop",
635
+ "value": 0,
636
+ "yaw": -0.5235987755982988
637
+ }
638
+ }
639
+ {
640
+ "aim_landmark": {
641
+ "color": "test",
642
+ "feature": "test",
643
+ "position": [
644
+ -131.383580493927,
645
+ 55.4392418384552,
646
+ 0.0
647
+ ],
648
+ "shape": "test",
649
+ "size": "test",
650
+ "type": "building"
651
+ }
652
+ }
Image/env_gs_nwpu01/astar_data/long/2025-1-13_12-57-58_610515434/pose.jsonl ADDED
@@ -0,0 +1,769 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -19.43270533792864,
6
+ 427.13398137022233,
7
+ -12.157879302848016
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -1.5707963267948966
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -19.43270533792864,
19
+ 424.13398137022233,
20
+ -12.157879302848016
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -1.5707963267948966
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -19.43270533792864,
32
+ 421.13398137022233,
33
+ -12.157879302848016
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -1.5707963267948966
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -19.43270533792864,
45
+ 418.13398137022233,
46
+ -12.157879302848016
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -1.5707963267948966
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -19.43270533792864,
58
+ 415.13398137022233,
59
+ -12.157879302848016
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -1.5707963267948966
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -19.43270533792864,
71
+ 412.13398137022233,
72
+ -12.157879302848016
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -1.5707963267948966
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -19.43270533792864,
84
+ 409.13398137022233,
85
+ -12.157879302848016
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -1.5707963267948966
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -19.43270533792864,
97
+ 406.13398137022233,
98
+ -12.157879302848016
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -1.5707963267948966
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -19.43270533792864,
110
+ 403.13398137022233,
111
+ -12.157879302848016
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -1.5707963267948966
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -19.43270533792864,
123
+ 400.13398137022233,
124
+ -12.157879302848016
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -1.5707963267948966
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -19.43270533792864,
136
+ 397.13398137022233,
137
+ -12.157879302848016
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -1.5707963267948966
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -19.43270533792864,
149
+ 394.13398137022233,
150
+ -12.157879302848016
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -1.5707963267948966
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -19.43270533792864,
162
+ 391.13398137022233,
163
+ -12.157879302848016
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -1.5707963267948966
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -19.43270533792864,
175
+ 388.13398137022233,
176
+ -12.157879302848016
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -1.5707963267948966
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -19.43270533792864,
188
+ 385.13398137022233,
189
+ -12.157879302848016
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -1.5707963267948966
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -19.43270533792864,
201
+ 382.13398137022233,
202
+ -12.157879302848016
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -1.5707963267948966
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -19.43270533792864,
214
+ 379.13398137022233,
215
+ -12.157879302848016
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -1.5707963267948966
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -19.43270533792864,
227
+ 376.13398137022233,
228
+ -12.157879302848016
229
+ ],
230
+ "type": "turn right",
231
+ "value": 30,
232
+ "yaw": -1.5707963267948966
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -19.43270533792864,
240
+ 376.13398137022233,
241
+ -12.157879302848016
242
+ ],
243
+ "type": "turn right",
244
+ "value": 30,
245
+ "yaw": -2.0943951023931953
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -19.43270533792864,
253
+ 376.13398137022233,
254
+ -12.157879302848016
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -2.617993877991494
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -22.030781549281954,
266
+ 374.63398137022233,
267
+ -12.157879302848016
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -2.6179938779914944
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -24.62885776063527,
279
+ 373.13398137022233,
280
+ -12.157879302848016
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -2.6179938779914944
285
+ }
286
+ }
287
+ {
288
+ "aim_landmark": {
289
+ "color": "test",
290
+ "feature": "test",
291
+ "position": [
292
+ -29.34419298171997,
293
+ 370.07065830230715,
294
+ 0.0
295
+ ],
296
+ "shape": "test",
297
+ "size": "test",
298
+ "type": "building"
299
+ }
300
+ }
301
+ {
302
+ "action": {
303
+ "imageid": 23,
304
+ "pos": [
305
+ -27.226933971988586,
306
+ 371.63398137022233,
307
+ -12.157879302848016
308
+ ],
309
+ "type": "turn left",
310
+ "value": 30,
311
+ "yaw": -2.6179938779914944
312
+ }
313
+ }
314
+ {
315
+ "action": {
316
+ "imageid": 24,
317
+ "pos": [
318
+ -27.226933971988586,
319
+ 371.63398137022233,
320
+ -12.157879302848016
321
+ ],
322
+ "type": "turn left",
323
+ "value": 30,
324
+ "yaw": -2.0943951023931957
325
+ }
326
+ }
327
+ {
328
+ "action": {
329
+ "imageid": 25,
330
+ "pos": [
331
+ -27.226933971988586,
332
+ 371.63398137022233,
333
+ -12.157879302848016
334
+ ],
335
+ "type": "turn left",
336
+ "value": 30,
337
+ "yaw": -1.5707963267948968
338
+ }
339
+ }
340
+ {
341
+ "action": {
342
+ "imageid": 26,
343
+ "pos": [
344
+ -27.226933971988586,
345
+ 371.63398137022233,
346
+ -12.157879302848016
347
+ ],
348
+ "type": "turn left",
349
+ "value": 30,
350
+ "yaw": -1.0471975511965979
351
+ }
352
+ }
353
+ {
354
+ "action": {
355
+ "imageid": 27,
356
+ "pos": [
357
+ -27.226933971988586,
358
+ 371.63398137022233,
359
+ -12.157879302848016
360
+ ],
361
+ "type": "turn left",
362
+ "value": 30,
363
+ "yaw": -0.5235987755982991
364
+ }
365
+ }
366
+ {
367
+ "action": {
368
+ "imageid": 28,
369
+ "pos": [
370
+ -27.226933971988586,
371
+ 371.63398137022233,
372
+ -12.157879302848016
373
+ ],
374
+ "type": "turn left",
375
+ "value": 30,
376
+ "yaw": -4.440892098500626e-16
377
+ }
378
+ }
379
+ {
380
+ "action": {
381
+ "imageid": 29,
382
+ "pos": [
383
+ -27.226933971988586,
384
+ 371.63398137022233,
385
+ -12.157879302848016
386
+ ],
387
+ "type": "turn left",
388
+ "value": 30,
389
+ "yaw": 0.5235987755982987
390
+ }
391
+ }
392
+ {
393
+ "action": {
394
+ "imageid": 30,
395
+ "pos": [
396
+ -27.226933971988586,
397
+ 371.63398137022233,
398
+ -12.157879302848016
399
+ ],
400
+ "type": "go straight",
401
+ "value": 3,
402
+ "yaw": 0.5235987755982988
403
+ }
404
+ }
405
+ {
406
+ "action": {
407
+ "imageid": 31,
408
+ "pos": [
409
+ -24.62885776063527,
410
+ 373.13398137022233,
411
+ -12.157879302848016
412
+ ],
413
+ "type": "turn left",
414
+ "value": 30,
415
+ "yaw": 0.5235987755982988
416
+ }
417
+ }
418
+ {
419
+ "action": {
420
+ "imageid": 32,
421
+ "pos": [
422
+ -24.62885776063527,
423
+ 373.13398137022233,
424
+ -12.157879302848016
425
+ ],
426
+ "type": "go straight",
427
+ "value": 3,
428
+ "yaw": 1.0471975511965976
429
+ }
430
+ }
431
+ {
432
+ "action": {
433
+ "imageid": 33,
434
+ "pos": [
435
+ -23.12885776063527,
436
+ 375.73205758157565,
437
+ -12.157879302848016
438
+ ],
439
+ "type": "go straight",
440
+ "value": 3,
441
+ "yaw": 1.0471975511965979
442
+ }
443
+ }
444
+ {
445
+ "action": {
446
+ "imageid": 34,
447
+ "pos": [
448
+ -21.62885776063527,
449
+ 378.33013379292896,
450
+ -12.157879302848016
451
+ ],
452
+ "type": "turn right",
453
+ "value": 30,
454
+ "yaw": 1.0471975511965979
455
+ }
456
+ }
457
+ {
458
+ "action": {
459
+ "imageid": 35,
460
+ "pos": [
461
+ -21.62885776063527,
462
+ 378.33013379292896,
463
+ -12.157879302848016
464
+ ],
465
+ "type": "go straight",
466
+ "value": 3,
467
+ "yaw": 0.523598775598299
468
+ }
469
+ }
470
+ {
471
+ "action": {
472
+ "imageid": 36,
473
+ "pos": [
474
+ -19.030781549281954,
475
+ 379.83013379292896,
476
+ -12.157879302848016
477
+ ],
478
+ "type": "go straight",
479
+ "value": 3,
480
+ "yaw": 0.5235987755982988
481
+ }
482
+ }
483
+ {
484
+ "action": {
485
+ "imageid": 37,
486
+ "pos": [
487
+ -16.43270533792864,
488
+ 381.33013379292896,
489
+ -12.157879302848016
490
+ ],
491
+ "type": "go straight",
492
+ "value": 3,
493
+ "yaw": 0.5235987755982988
494
+ }
495
+ }
496
+ {
497
+ "action": {
498
+ "imageid": 38,
499
+ "pos": [
500
+ -13.834629126575322,
501
+ 382.83013379292896,
502
+ -12.157879302848016
503
+ ],
504
+ "type": "go straight",
505
+ "value": 3,
506
+ "yaw": 0.5235987755982988
507
+ }
508
+ }
509
+ {
510
+ "action": {
511
+ "imageid": 39,
512
+ "pos": [
513
+ -11.236552915222006,
514
+ 384.33013379292896,
515
+ -12.157879302848016
516
+ ],
517
+ "type": "go straight",
518
+ "value": 3,
519
+ "yaw": 0.5235987755982988
520
+ }
521
+ }
522
+ {
523
+ "action": {
524
+ "imageid": 40,
525
+ "pos": [
526
+ -8.63847670386869,
527
+ 385.83013379292896,
528
+ -12.157879302848016
529
+ ],
530
+ "type": "go straight",
531
+ "value": 3,
532
+ "yaw": 0.5235987755982988
533
+ }
534
+ }
535
+ {
536
+ "action": {
537
+ "imageid": 41,
538
+ "pos": [
539
+ -6.040400492515374,
540
+ 387.33013379292896,
541
+ -12.157879302848016
542
+ ],
543
+ "type": "go straight",
544
+ "value": 3,
545
+ "yaw": 0.5235987755982988
546
+ }
547
+ }
548
+ {
549
+ "action": {
550
+ "imageid": 42,
551
+ "pos": [
552
+ -3.4423242811620582,
553
+ 388.83013379292896,
554
+ -12.157879302848016
555
+ ],
556
+ "type": "go straight",
557
+ "value": 3,
558
+ "yaw": 0.5235987755982988
559
+ }
560
+ }
561
+ {
562
+ "action": {
563
+ "imageid": 43,
564
+ "pos": [
565
+ -0.8442480698087422,
566
+ 390.33013379292896,
567
+ -12.157879302848016
568
+ ],
569
+ "type": "go straight",
570
+ "value": 3,
571
+ "yaw": 0.5235987755982988
572
+ }
573
+ }
574
+ {
575
+ "action": {
576
+ "imageid": 44,
577
+ "pos": [
578
+ 1.7538281415445738,
579
+ 391.83013379292896,
580
+ -12.157879302848016
581
+ ],
582
+ "type": "go straight",
583
+ "value": 3,
584
+ "yaw": 0.5235987755982988
585
+ }
586
+ }
587
+ {
588
+ "action": {
589
+ "imageid": 45,
590
+ "pos": [
591
+ 4.35190435289789,
592
+ 393.33013379292896,
593
+ -12.157879302848016
594
+ ],
595
+ "type": "go straight",
596
+ "value": 3,
597
+ "yaw": 0.5235987755982988
598
+ }
599
+ }
600
+ {
601
+ "action": {
602
+ "imageid": 46,
603
+ "pos": [
604
+ 6.949980564251206,
605
+ 394.83013379292896,
606
+ -12.157879302848016
607
+ ],
608
+ "type": "go straight",
609
+ "value": 3,
610
+ "yaw": 0.5235987755982988
611
+ }
612
+ }
613
+ {
614
+ "action": {
615
+ "imageid": 47,
616
+ "pos": [
617
+ 9.548056775604522,
618
+ 396.33013379292896,
619
+ -12.157879302848016
620
+ ],
621
+ "type": "go straight",
622
+ "value": 3,
623
+ "yaw": 0.5235987755982988
624
+ }
625
+ }
626
+ {
627
+ "action": {
628
+ "imageid": 48,
629
+ "pos": [
630
+ 12.146132986957838,
631
+ 397.83013379292896,
632
+ -12.157879302848016
633
+ ],
634
+ "type": "go straight",
635
+ "value": 3,
636
+ "yaw": 0.5235987755982988
637
+ }
638
+ }
639
+ {
640
+ "action": {
641
+ "imageid": 49,
642
+ "pos": [
643
+ 14.744209198311154,
644
+ 399.33013379292896,
645
+ -12.157879302848016
646
+ ],
647
+ "type": "go straight",
648
+ "value": 3,
649
+ "yaw": 0.5235987755982988
650
+ }
651
+ }
652
+ {
653
+ "action": {
654
+ "imageid": 50,
655
+ "pos": [
656
+ 17.34228540966447,
657
+ 400.83013379292896,
658
+ -12.157879302848016
659
+ ],
660
+ "type": "go straight",
661
+ "value": 3,
662
+ "yaw": 0.5235987755982988
663
+ }
664
+ }
665
+ {
666
+ "action": {
667
+ "imageid": 51,
668
+ "pos": [
669
+ 19.940361621017786,
670
+ 402.33013379292896,
671
+ -12.157879302848016
672
+ ],
673
+ "type": "go straight",
674
+ "value": 3,
675
+ "yaw": 0.5235987755982988
676
+ }
677
+ }
678
+ {
679
+ "action": {
680
+ "imageid": 52,
681
+ "pos": [
682
+ 22.538437832371102,
683
+ 403.83013379292896,
684
+ -12.157879302848016
685
+ ],
686
+ "type": "go straight",
687
+ "value": 3,
688
+ "yaw": 0.5235987755982988
689
+ }
690
+ }
691
+ {
692
+ "action": {
693
+ "imageid": 53,
694
+ "pos": [
695
+ 25.136514043724418,
696
+ 405.33013379292896,
697
+ -12.157879302848016
698
+ ],
699
+ "type": "go straight",
700
+ "value": 3,
701
+ "yaw": 0.5235987755982988
702
+ }
703
+ }
704
+ {
705
+ "action": {
706
+ "imageid": 54,
707
+ "pos": [
708
+ 27.734590255077734,
709
+ 406.83013379292896,
710
+ -12.157879302848016
711
+ ],
712
+ "type": "go straight",
713
+ "value": 3,
714
+ "yaw": 0.5235987755982988
715
+ }
716
+ }
717
+ {
718
+ "action": {
719
+ "imageid": 55,
720
+ "pos": [
721
+ 30.33266646643105,
722
+ 408.33013379292896,
723
+ -12.157879302848016
724
+ ],
725
+ "type": "go straight",
726
+ "value": 3,
727
+ "yaw": 0.5235987755982988
728
+ }
729
+ }
730
+ {
731
+ "action": {
732
+ "imageid": 56,
733
+ "pos": [
734
+ 32.930742677784366,
735
+ 409.83013379292896,
736
+ -12.157879302848016
737
+ ],
738
+ "type": "go straight",
739
+ "value": 3,
740
+ "yaw": 0.5235987755982988
741
+ }
742
+ }
743
+ {
744
+ "action": {
745
+ "imageid": 57,
746
+ "pos": [
747
+ 35.52881888913768,
748
+ 411.33013379292896,
749
+ -12.157879302848016
750
+ ],
751
+ "type": "stop",
752
+ "value": 0,
753
+ "yaw": 0.5235987755982988
754
+ }
755
+ }
756
+ {
757
+ "aim_landmark": {
758
+ "color": "test",
759
+ "feature": "test",
760
+ "position": [
761
+ 37.990253353118895,
762
+ 414.50321331024173,
763
+ 0.0
764
+ ],
765
+ "shape": "test",
766
+ "size": "test",
767
+ "type": "building"
768
+ }
769
+ }
Image/env_gs_nwpu01/astar_data/long/2025-1-13_13-1-55_1780695788/pose.jsonl ADDED
@@ -0,0 +1,665 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 187.6331793719178,
6
+ -12.710764982219573,
7
+ -12.136117960634422
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -1.5707963267948966
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 187.6331793719178,
19
+ -15.710764982219573,
20
+ -12.136117960634422
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -1.5707963267948966
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 187.6331793719178,
32
+ -18.710764982219573,
33
+ -12.136117960634422
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -1.5707963267948966
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 187.6331793719178,
45
+ -21.710764982219573,
46
+ -12.136117960634422
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -1.5707963267948966
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 187.6331793719178,
58
+ -24.710764982219573,
59
+ -12.136117960634422
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -1.5707963267948966
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 187.6331793719178,
71
+ -27.710764982219573,
72
+ -12.136117960634422
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -1.5707963267948966
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 187.6331793719178,
84
+ -30.710764982219573,
85
+ -12.136117960634422
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -1.5707963267948966
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 187.6331793719178,
97
+ -33.71076498221957,
98
+ -12.136117960634422
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -1.5707963267948966
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 187.6331793719178,
110
+ -36.71076498221957,
111
+ -12.136117960634422
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -1.5707963267948966
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 187.6331793719178,
123
+ -39.71076498221957,
124
+ -12.136117960634422
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -1.5707963267948966
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 187.6331793719178,
136
+ -42.71076498221957,
137
+ -12.136117960634422
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -1.5707963267948966
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 187.6331793719178,
149
+ -45.71076498221957,
150
+ -12.136117960634422
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -1.5707963267948966
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 187.6331793719178,
162
+ -48.71076498221957,
163
+ -12.136117960634422
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -1.5707963267948966
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 187.6331793719178,
175
+ -51.71076498221957,
176
+ -12.136117960634422
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -1.5707963267948966
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 187.6331793719178,
188
+ -54.71076498221957,
189
+ -12.136117960634422
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -1.5707963267948966
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 187.6331793719178,
201
+ -57.71076498221957,
202
+ -12.136117960634422
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -1.5707963267948966
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 187.6331793719178,
214
+ -60.71076498221957,
215
+ -12.136117960634422
216
+ ],
217
+ "type": "turn right",
218
+ "value": 30,
219
+ "yaw": -1.5707963267948966
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 187.6331793719178,
227
+ -60.71076498221957,
228
+ -12.136117960634422
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -2.0943951023931953
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 186.1331793719178,
240
+ -63.30884119357289,
241
+ -12.136117960634422
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -2.0943951023931953
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 184.6331793719178,
253
+ -65.9069174049262,
254
+ -12.136117960634422
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -2.0943951023931953
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 183.1331793719178,
266
+ -68.50499361627952,
267
+ -12.136117960634422
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -2.0943951023931953
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 181.6331793719178,
279
+ -71.10306982763284,
280
+ -12.136117960634422
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -2.0943951023931953
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 180.1331793719178,
292
+ -73.70114603898615,
293
+ -12.136117960634422
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -2.0943951023931953
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 178.6331793719178,
305
+ -76.29922225033947,
306
+ -12.136117960634422
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": -2.0943951023931953
311
+ }
312
+ }
313
+ {
314
+ "aim_landmark": {
315
+ "color": "test",
316
+ "feature": "test",
317
+ "position": [
318
+ 178.66267461776735,
319
+ -81.21840529441835,
320
+ 0.0
321
+ ],
322
+ "shape": "test",
323
+ "size": "test",
324
+ "type": "building"
325
+ }
326
+ }
327
+ {
328
+ "action": {
329
+ "imageid": 25,
330
+ "pos": [
331
+ 177.1331793719178,
332
+ -78.89729846169278,
333
+ -12.136117960634422
334
+ ],
335
+ "type": "turn right",
336
+ "value": 30,
337
+ "yaw": -2.0943951023931953
338
+ }
339
+ }
340
+ {
341
+ "action": {
342
+ "imageid": 26,
343
+ "pos": [
344
+ 177.1331793719178,
345
+ -78.89729846169278,
346
+ -12.136117960634422
347
+ ],
348
+ "type": "turn right",
349
+ "value": 30,
350
+ "yaw": -2.617993877991494
351
+ }
352
+ }
353
+ {
354
+ "action": {
355
+ "imageid": 27,
356
+ "pos": [
357
+ 177.1331793719178,
358
+ -78.89729846169278,
359
+ -12.136117960634422
360
+ ],
361
+ "type": "go straight",
362
+ "value": 3,
363
+ "yaw": -2.6179938779914944
364
+ }
365
+ }
366
+ {
367
+ "action": {
368
+ "imageid": 28,
369
+ "pos": [
370
+ 174.5351031605645,
371
+ -80.39729846169278,
372
+ -12.136117960634422
373
+ ],
374
+ "type": "go straight",
375
+ "value": 3,
376
+ "yaw": -2.6179938779914944
377
+ }
378
+ }
379
+ {
380
+ "action": {
381
+ "imageid": 29,
382
+ "pos": [
383
+ 171.93702694921117,
384
+ -81.89729846169278,
385
+ -12.136117960634422
386
+ ],
387
+ "type": "go straight",
388
+ "value": 3,
389
+ "yaw": -2.6179938779914944
390
+ }
391
+ }
392
+ {
393
+ "action": {
394
+ "imageid": 30,
395
+ "pos": [
396
+ 169.33895073785786,
397
+ -83.39729846169278,
398
+ -12.136117960634422
399
+ ],
400
+ "type": "go straight",
401
+ "value": 3,
402
+ "yaw": -2.6179938779914944
403
+ }
404
+ }
405
+ {
406
+ "action": {
407
+ "imageid": 31,
408
+ "pos": [
409
+ 166.74087452650454,
410
+ -84.89729846169278,
411
+ -12.136117960634422
412
+ ],
413
+ "type": "go straight",
414
+ "value": 3,
415
+ "yaw": -2.6179938779914944
416
+ }
417
+ }
418
+ {
419
+ "action": {
420
+ "imageid": 32,
421
+ "pos": [
422
+ 164.14279831515123,
423
+ -86.39729846169278,
424
+ -12.136117960634422
425
+ ],
426
+ "type": "go straight",
427
+ "value": 3,
428
+ "yaw": -2.6179938779914944
429
+ }
430
+ }
431
+ {
432
+ "action": {
433
+ "imageid": 33,
434
+ "pos": [
435
+ 161.5447221037979,
436
+ -87.89729846169278,
437
+ -12.136117960634422
438
+ ],
439
+ "type": "go straight",
440
+ "value": 3,
441
+ "yaw": -2.6179938779914944
442
+ }
443
+ }
444
+ {
445
+ "action": {
446
+ "imageid": 34,
447
+ "pos": [
448
+ 158.9466458924446,
449
+ -89.39729846169278,
450
+ -12.136117960634422
451
+ ],
452
+ "type": "go straight",
453
+ "value": 3,
454
+ "yaw": -2.6179938779914944
455
+ }
456
+ }
457
+ {
458
+ "action": {
459
+ "imageid": 35,
460
+ "pos": [
461
+ 156.34856968109128,
462
+ -90.89729846169278,
463
+ -12.136117960634422
464
+ ],
465
+ "type": "go straight",
466
+ "value": 3,
467
+ "yaw": -2.6179938779914944
468
+ }
469
+ }
470
+ {
471
+ "action": {
472
+ "imageid": 36,
473
+ "pos": [
474
+ 153.75049346973796,
475
+ -92.39729846169278,
476
+ -12.136117960634422
477
+ ],
478
+ "type": "go straight",
479
+ "value": 3,
480
+ "yaw": -2.6179938779914944
481
+ }
482
+ }
483
+ {
484
+ "action": {
485
+ "imageid": 37,
486
+ "pos": [
487
+ 151.15241725838465,
488
+ -93.89729846169278,
489
+ -12.136117960634422
490
+ ],
491
+ "type": "go straight",
492
+ "value": 3,
493
+ "yaw": -2.6179938779914944
494
+ }
495
+ }
496
+ {
497
+ "action": {
498
+ "imageid": 38,
499
+ "pos": [
500
+ 148.55434104703133,
501
+ -95.39729846169278,
502
+ -12.136117960634422
503
+ ],
504
+ "type": "turn right",
505
+ "value": 30,
506
+ "yaw": -2.6179938779914944
507
+ }
508
+ }
509
+ {
510
+ "action": {
511
+ "imageid": 39,
512
+ "pos": [
513
+ 148.55434104703133,
514
+ -95.39729846169278,
515
+ -12.136117960634422
516
+ ],
517
+ "type": "go straight",
518
+ "value": 3,
519
+ "yaw": -3.141592653589793
520
+ }
521
+ }
522
+ {
523
+ "action": {
524
+ "imageid": 40,
525
+ "pos": [
526
+ 145.55434104703133,
527
+ -95.39729846169278,
528
+ -12.136117960634422
529
+ ],
530
+ "type": "go straight",
531
+ "value": 3,
532
+ "yaw": 3.141592653589793
533
+ }
534
+ }
535
+ {
536
+ "action": {
537
+ "imageid": 41,
538
+ "pos": [
539
+ 142.55434104703133,
540
+ -95.39729846169278,
541
+ -12.136117960634422
542
+ ],
543
+ "type": "go straight",
544
+ "value": 3,
545
+ "yaw": 3.141592653589793
546
+ }
547
+ }
548
+ {
549
+ "action": {
550
+ "imageid": 42,
551
+ "pos": [
552
+ 139.55434104703133,
553
+ -95.39729846169278,
554
+ -12.136117960634422
555
+ ],
556
+ "type": "go straight",
557
+ "value": 3,
558
+ "yaw": 3.141592653589793
559
+ }
560
+ }
561
+ {
562
+ "action": {
563
+ "imageid": 43,
564
+ "pos": [
565
+ 136.55434104703133,
566
+ -95.39729846169278,
567
+ -12.136117960634422
568
+ ],
569
+ "type": "go straight",
570
+ "value": 3,
571
+ "yaw": 3.141592653589793
572
+ }
573
+ }
574
+ {
575
+ "action": {
576
+ "imageid": 44,
577
+ "pos": [
578
+ 133.55434104703133,
579
+ -95.39729846169278,
580
+ -12.136117960634422
581
+ ],
582
+ "type": "go straight",
583
+ "value": 3,
584
+ "yaw": 3.141592653589793
585
+ }
586
+ }
587
+ {
588
+ "action": {
589
+ "imageid": 45,
590
+ "pos": [
591
+ 130.55434104703133,
592
+ -95.39729846169278,
593
+ -12.136117960634422
594
+ ],
595
+ "type": "go straight",
596
+ "value": 3,
597
+ "yaw": 3.141592653589793
598
+ }
599
+ }
600
+ {
601
+ "action": {
602
+ "imageid": 46,
603
+ "pos": [
604
+ 127.55434104703133,
605
+ -95.39729846169278,
606
+ -12.136117960634422
607
+ ],
608
+ "type": "go straight",
609
+ "value": 3,
610
+ "yaw": 3.141592653589793
611
+ }
612
+ }
613
+ {
614
+ "action": {
615
+ "imageid": 47,
616
+ "pos": [
617
+ 124.55434104703133,
618
+ -95.39729846169278,
619
+ -12.136117960634422
620
+ ],
621
+ "type": "go straight",
622
+ "value": 3,
623
+ "yaw": 3.141592653589793
624
+ }
625
+ }
626
+ {
627
+ "action": {
628
+ "imageid": 48,
629
+ "pos": [
630
+ 121.55434104703133,
631
+ -95.39729846169278,
632
+ -12.136117960634422
633
+ ],
634
+ "type": "go straight",
635
+ "value": 3,
636
+ "yaw": 3.141592653589793
637
+ }
638
+ }
639
+ {
640
+ "action": {
641
+ "imageid": 49,
642
+ "pos": [
643
+ 118.55434104703133,
644
+ -95.39729846169278,
645
+ -12.136117960634422
646
+ ],
647
+ "type": "stop",
648
+ "value": 0,
649
+ "yaw": 3.141592653589793
650
+ }
651
+ }
652
+ {
653
+ "aim_landmark": {
654
+ "color": "test",
655
+ "feature": "test",
656
+ "position": [
657
+ 116.47075052261353,
658
+ -94.12755188941956,
659
+ 0.0
660
+ ],
661
+ "shape": "test",
662
+ "size": "test",
663
+ "type": "building"
664
+ }
665
+ }
Image/env_gs_nwpu01/astar_data/long/2025-1-13_13-29-42_515530019/pose.jsonl ADDED
@@ -0,0 +1,704 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 17.467587300814877,
6
+ 466.8782650885344,
7
+ -12.128011786263784
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -1.0471975511965979
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 18.967587300814877,
19
+ 464.2801888771811,
20
+ -12.128011786263784
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -1.0471975511965979
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 20.467587300814877,
32
+ 461.6821126658278,
33
+ -12.128011786263784
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -1.0471975511965979
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 21.967587300814877,
45
+ 459.08403645447447,
46
+ -12.128011786263784
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -1.0471975511965979
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 23.467587300814877,
58
+ 456.48596024312116,
59
+ -12.128011786263784
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -1.0471975511965979
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 24.967587300814877,
71
+ 453.88788403176784,
72
+ -12.128011786263784
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -1.0471975511965979
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 26.467587300814877,
84
+ 451.2898078204145,
85
+ -12.128011786263784
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -1.0471975511965979
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 27.967587300814877,
97
+ 448.6917316090612,
98
+ -12.128011786263784
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -1.0471975511965979
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 29.467587300814877,
110
+ 446.0936553977079,
111
+ -12.128011786263784
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -1.0471975511965979
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 30.967587300814877,
123
+ 443.4955791863546,
124
+ -12.128011786263784
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -1.0471975511965979
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 32.46758730081488,
136
+ 440.89750297500126,
137
+ -12.128011786263784
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -1.0471975511965979
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 33.96758730081488,
149
+ 438.29942676364794,
150
+ -12.128011786263784
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -1.0471975511965979
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 35.46758730081488,
162
+ 435.7013505522946,
163
+ -12.128011786263784
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -1.0471975511965979
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 36.96758730081488,
175
+ 433.1032743409413,
176
+ -12.128011786263784
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -1.0471975511965979
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 38.46758730081488,
188
+ 430.505198129588,
189
+ -12.128011786263784
190
+ ],
191
+ "type": "turn right",
192
+ "value": 30,
193
+ "yaw": -1.0471975511965979
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 38.46758730081488,
201
+ 430.505198129588,
202
+ -12.128011786263784
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -1.5707963267948966
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 38.46758730081488,
214
+ 427.505198129588,
215
+ -12.128011786263784
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -1.5707963267948966
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 38.46758730081488,
227
+ 424.505198129588,
228
+ -12.128011786263784
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -1.5707963267948966
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 38.46758730081488,
240
+ 421.505198129588,
241
+ -12.128011786263784
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -1.5707963267948966
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 38.46758730081488,
253
+ 418.505198129588,
254
+ -12.128011786263784
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -1.5707963267948966
259
+ }
260
+ }
261
+ {
262
+ "aim_landmark": {
263
+ "color": "test",
264
+ "feature": "test",
265
+ "position": [
266
+ 37.990253353118895,
267
+ 414.50321331024173,
268
+ 0.0
269
+ ],
270
+ "shape": "test",
271
+ "size": "test",
272
+ "type": "building"
273
+ }
274
+ }
275
+ {
276
+ "action": {
277
+ "imageid": 21,
278
+ "pos": [
279
+ 38.46758730081488,
280
+ 415.505198129588,
281
+ -12.128011786263784
282
+ ],
283
+ "type": "turn left",
284
+ "value": 30,
285
+ "yaw": -1.5707963267948966
286
+ }
287
+ }
288
+ {
289
+ "action": {
290
+ "imageid": 22,
291
+ "pos": [
292
+ 38.46758730081488,
293
+ 415.505198129588,
294
+ -12.128011786263784
295
+ ],
296
+ "type": "turn left",
297
+ "value": 30,
298
+ "yaw": -1.0471975511965979
299
+ }
300
+ }
301
+ {
302
+ "action": {
303
+ "imageid": 23,
304
+ "pos": [
305
+ 38.46758730081488,
306
+ 415.505198129588,
307
+ -12.128011786263784
308
+ ],
309
+ "type": "turn left",
310
+ "value": 30,
311
+ "yaw": -0.5235987755982989
312
+ }
313
+ }
314
+ {
315
+ "action": {
316
+ "imageid": 24,
317
+ "pos": [
318
+ 38.46758730081488,
319
+ 415.505198129588,
320
+ -12.128011786263784
321
+ ],
322
+ "type": "turn left",
323
+ "value": 30,
324
+ "yaw": 0.0
325
+ }
326
+ }
327
+ {
328
+ "action": {
329
+ "imageid": 25,
330
+ "pos": [
331
+ 38.46758730081488,
332
+ 415.505198129588,
333
+ -12.128011786263784
334
+ ],
335
+ "type": "go straight",
336
+ "value": 3,
337
+ "yaw": 0.0
338
+ }
339
+ }
340
+ {
341
+ "action": {
342
+ "imageid": 26,
343
+ "pos": [
344
+ 41.46758730081488,
345
+ 415.505198129588,
346
+ -12.128011786263784
347
+ ],
348
+ "type": "go straight",
349
+ "value": 3,
350
+ "yaw": 0.0
351
+ }
352
+ }
353
+ {
354
+ "action": {
355
+ "imageid": 27,
356
+ "pos": [
357
+ 44.46758730081488,
358
+ 415.505198129588,
359
+ -12.128011786263784
360
+ ],
361
+ "type": "go straight",
362
+ "value": 3,
363
+ "yaw": 0.0
364
+ }
365
+ }
366
+ {
367
+ "action": {
368
+ "imageid": 28,
369
+ "pos": [
370
+ 47.46758730081488,
371
+ 415.505198129588,
372
+ -12.128011786263784
373
+ ],
374
+ "type": "go straight",
375
+ "value": 3,
376
+ "yaw": 0.0
377
+ }
378
+ }
379
+ {
380
+ "action": {
381
+ "imageid": 29,
382
+ "pos": [
383
+ 50.46758730081488,
384
+ 415.505198129588,
385
+ -12.128011786263784
386
+ ],
387
+ "type": "go straight",
388
+ "value": 3,
389
+ "yaw": 0.0
390
+ }
391
+ }
392
+ {
393
+ "action": {
394
+ "imageid": 30,
395
+ "pos": [
396
+ 53.46758730081488,
397
+ 415.505198129588,
398
+ -12.128011786263784
399
+ ],
400
+ "type": "go straight",
401
+ "value": 3,
402
+ "yaw": 0.0
403
+ }
404
+ }
405
+ {
406
+ "action": {
407
+ "imageid": 31,
408
+ "pos": [
409
+ 56.46758730081488,
410
+ 415.505198129588,
411
+ -12.128011786263784
412
+ ],
413
+ "type": "go straight",
414
+ "value": 3,
415
+ "yaw": 0.0
416
+ }
417
+ }
418
+ {
419
+ "action": {
420
+ "imageid": 32,
421
+ "pos": [
422
+ 59.46758730081488,
423
+ 415.505198129588,
424
+ -12.128011786263784
425
+ ],
426
+ "type": "go straight",
427
+ "value": 3,
428
+ "yaw": 0.0
429
+ }
430
+ }
431
+ {
432
+ "action": {
433
+ "imageid": 33,
434
+ "pos": [
435
+ 62.46758730081488,
436
+ 415.505198129588,
437
+ -12.128011786263784
438
+ ],
439
+ "type": "turn left",
440
+ "value": 30,
441
+ "yaw": 0.0
442
+ }
443
+ }
444
+ {
445
+ "action": {
446
+ "imageid": 34,
447
+ "pos": [
448
+ 62.46758730081488,
449
+ 415.505198129588,
450
+ -12.128011786263784
451
+ ],
452
+ "type": "go straight",
453
+ "value": 3,
454
+ "yaw": 0.5235987755982988
455
+ }
456
+ }
457
+ {
458
+ "action": {
459
+ "imageid": 35,
460
+ "pos": [
461
+ 65.06566351216819,
462
+ 417.005198129588,
463
+ -12.128011786263784
464
+ ],
465
+ "type": "go straight",
466
+ "value": 3,
467
+ "yaw": 0.5235987755983
468
+ }
469
+ }
470
+ {
471
+ "action": {
472
+ "imageid": 36,
473
+ "pos": [
474
+ 67.6637397235215,
475
+ 418.505198129588,
476
+ -12.128011786263784
477
+ ],
478
+ "type": "go straight",
479
+ "value": 3,
480
+ "yaw": 0.5235987755982988
481
+ }
482
+ }
483
+ {
484
+ "action": {
485
+ "imageid": 37,
486
+ "pos": [
487
+ 70.26181593487482,
488
+ 420.005198129588,
489
+ -12.128011786263784
490
+ ],
491
+ "type": "go straight",
492
+ "value": 3,
493
+ "yaw": 0.5235987755982988
494
+ }
495
+ }
496
+ {
497
+ "action": {
498
+ "imageid": 38,
499
+ "pos": [
500
+ 72.85989214622813,
501
+ 421.505198129588,
502
+ -12.128011786263784
503
+ ],
504
+ "type": "go straight",
505
+ "value": 3,
506
+ "yaw": 0.5235987755982988
507
+ }
508
+ }
509
+ {
510
+ "action": {
511
+ "imageid": 39,
512
+ "pos": [
513
+ 75.45796835758145,
514
+ 423.005198129588,
515
+ -12.128011786263784
516
+ ],
517
+ "type": "go straight",
518
+ "value": 3,
519
+ "yaw": 0.5235987755982988
520
+ }
521
+ }
522
+ {
523
+ "action": {
524
+ "imageid": 40,
525
+ "pos": [
526
+ 78.05604456893477,
527
+ 424.505198129588,
528
+ -12.128011786263784
529
+ ],
530
+ "type": "go straight",
531
+ "value": 3,
532
+ "yaw": 0.5235987755982988
533
+ }
534
+ }
535
+ {
536
+ "action": {
537
+ "imageid": 41,
538
+ "pos": [
539
+ 80.65412078028808,
540
+ 426.005198129588,
541
+ -12.128011786263784
542
+ ],
543
+ "type": "go straight",
544
+ "value": 3,
545
+ "yaw": 0.5235987755982988
546
+ }
547
+ }
548
+ {
549
+ "action": {
550
+ "imageid": 42,
551
+ "pos": [
552
+ 83.2521969916414,
553
+ 427.505198129588,
554
+ -12.128011786263784
555
+ ],
556
+ "type": "go straight",
557
+ "value": 3,
558
+ "yaw": 0.5235987755982988
559
+ }
560
+ }
561
+ {
562
+ "action": {
563
+ "imageid": 43,
564
+ "pos": [
565
+ 85.85027320299471,
566
+ 429.005198129588,
567
+ -12.128011786263784
568
+ ],
569
+ "type": "go straight",
570
+ "value": 3,
571
+ "yaw": 0.5235987755982988
572
+ }
573
+ }
574
+ {
575
+ "action": {
576
+ "imageid": 44,
577
+ "pos": [
578
+ 88.44834941434803,
579
+ 430.505198129588,
580
+ -12.128011786263784
581
+ ],
582
+ "type": "go straight",
583
+ "value": 3,
584
+ "yaw": 0.5235987755982988
585
+ }
586
+ }
587
+ {
588
+ "action": {
589
+ "imageid": 45,
590
+ "pos": [
591
+ 91.04642562570135,
592
+ 432.005198129588,
593
+ -12.128011786263784
594
+ ],
595
+ "type": "go straight",
596
+ "value": 3,
597
+ "yaw": 0.5235987755982988
598
+ }
599
+ }
600
+ {
601
+ "action": {
602
+ "imageid": 46,
603
+ "pos": [
604
+ 93.64450183705466,
605
+ 433.505198129588,
606
+ -12.128011786263784
607
+ ],
608
+ "type": "go straight",
609
+ "value": 3,
610
+ "yaw": 0.5235987755982988
611
+ }
612
+ }
613
+ {
614
+ "action": {
615
+ "imageid": 47,
616
+ "pos": [
617
+ 96.24257804840798,
618
+ 435.005198129588,
619
+ -12.128011786263784
620
+ ],
621
+ "type": "go straight",
622
+ "value": 3,
623
+ "yaw": 0.5235987755982988
624
+ }
625
+ }
626
+ {
627
+ "action": {
628
+ "imageid": 48,
629
+ "pos": [
630
+ 98.8406542597613,
631
+ 436.505198129588,
632
+ -12.128011786263784
633
+ ],
634
+ "type": "go straight",
635
+ "value": 3,
636
+ "yaw": 0.5235987755982988
637
+ }
638
+ }
639
+ {
640
+ "action": {
641
+ "imageid": 49,
642
+ "pos": [
643
+ 101.43873047111461,
644
+ 438.005198129588,
645
+ -12.128011786263784
646
+ ],
647
+ "type": "go straight",
648
+ "value": 3,
649
+ "yaw": 0.5235987755982988
650
+ }
651
+ }
652
+ {
653
+ "action": {
654
+ "imageid": 50,
655
+ "pos": [
656
+ 104.03680668246793,
657
+ 439.505198129588,
658
+ -12.128011786263784
659
+ ],
660
+ "type": "go straight",
661
+ "value": 3,
662
+ "yaw": 0.5235987755982988
663
+ }
664
+ }
665
+ {
666
+ "action": {
667
+ "imageid": 51,
668
+ "pos": [
669
+ 106.63488289382124,
670
+ 441.005198129588,
671
+ -12.128011786263784
672
+ ],
673
+ "type": "go straight",
674
+ "value": 3,
675
+ "yaw": 0.5235987755982988
676
+ }
677
+ }
678
+ {
679
+ "action": {
680
+ "imageid": 52,
681
+ "pos": [
682
+ 109.23295910517456,
683
+ 442.505198129588,
684
+ -12.128011786263784
685
+ ],
686
+ "type": "stop",
687
+ "value": 0,
688
+ "yaw": 0.5235987755982988
689
+ }
690
+ }
691
+ {
692
+ "aim_landmark": {
693
+ "color": "test",
694
+ "feature": "test",
695
+ "position": [
696
+ 111.95103158950806,
697
+ 444.64442253112793,
698
+ 0.0
699
+ ],
700
+ "shape": "test",
701
+ "size": "test",
702
+ "type": "building"
703
+ }
704
+ }
Image/env_gs_nwpu01/astar_data/long/2025-1-13_13-38-42_438792350/pose.jsonl ADDED
@@ -0,0 +1,691 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -249.1657160883425,
6
+ 153.97116339988355,
7
+ -11.566763030045202
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 1.0471975511965979
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -247.6657160883425,
19
+ 156.56923961123687,
20
+ -11.566763030045202
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 1.0471975511965979
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -246.1657160883425,
32
+ 159.16731582259018,
33
+ -11.566763030045202
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 1.0471975511965979
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -244.6657160883425,
45
+ 161.7653920339435,
46
+ -11.566763030045202
47
+ ],
48
+ "type": "turn right",
49
+ "value": 30,
50
+ "yaw": 1.0471975511965979
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -244.6657160883425,
58
+ 161.7653920339435,
59
+ -11.566763030045202
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 0.523598775598299
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -242.06763987698918,
71
+ 163.2653920339435,
72
+ -11.566763030045202
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 0.5235987755982988
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -239.46956366563586,
84
+ 164.7653920339435,
85
+ -11.566763030045202
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 0.5235987755982988
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -236.87148745428254,
97
+ 166.2653920339435,
98
+ -11.566763030045202
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 0.5235987755982988
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -234.27341124292923,
110
+ 167.7653920339435,
111
+ -11.566763030045202
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 0.5235987755982988
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -231.6753350315759,
123
+ 169.2653920339435,
124
+ -11.566763030045202
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 0.5235987755982988
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -229.0772588202226,
136
+ 170.7653920339435,
137
+ -11.566763030045202
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 0.5235987755982988
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -226.47918260886928,
149
+ 172.2653920339435,
150
+ -11.566763030045202
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 0.5235987755982988
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -223.88110639751596,
162
+ 173.7653920339435,
163
+ -11.566763030045202
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 0.5235987755982988
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -221.28303018616265,
175
+ 175.2653920339435,
176
+ -11.566763030045202
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 0.5235987755982988
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -218.68495397480933,
188
+ 176.7653920339435,
189
+ -11.566763030045202
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 0.5235987755982988
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -216.08687776345602,
201
+ 178.2653920339435,
202
+ -11.566763030045202
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 0.5235987755982988
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -213.4888015521027,
214
+ 179.7653920339435,
215
+ -11.566763030045202
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 0.5235987755982988
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -210.89072534074938,
227
+ 181.2653920339435,
228
+ -11.566763030045202
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 0.5235987755982988
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -208.29264912939607,
240
+ 182.7653920339435,
241
+ -11.566763030045202
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 0.5235987755982988
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -205.69457291804275,
253
+ 184.2653920339435,
254
+ -11.566763030045202
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 0.5235987755982988
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -203.09649670668944,
266
+ 185.7653920339435,
267
+ -11.566763030045202
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 0.5235987755982988
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -200.49842049533612,
279
+ 187.2653920339435,
280
+ -11.566763030045202
281
+ ],
282
+ "type": "turn right",
283
+ "value": 30,
284
+ "yaw": 0.5235987755982988
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -200.49842049533612,
292
+ 187.2653920339435,
293
+ -11.566763030045202
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 0.0
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -197.49842049533612,
305
+ 187.2653920339435,
306
+ -11.566763030045202
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": 0.0
311
+ }
312
+ }
313
+ {
314
+ "aim_landmark": {
315
+ "color": "test",
316
+ "feature": "test",
317
+ "position": [
318
+ -193.25448856353762,
319
+ 186.17940139770508,
320
+ 0.0
321
+ ],
322
+ "shape": "test",
323
+ "size": "test",
324
+ "type": "building"
325
+ }
326
+ }
327
+ {
328
+ "action": {
329
+ "imageid": 25,
330
+ "pos": [
331
+ -194.49842049533612,
332
+ 187.2653920339435,
333
+ -11.566763030045202
334
+ ],
335
+ "type": "turn right",
336
+ "value": 30,
337
+ "yaw": 0.0
338
+ }
339
+ }
340
+ {
341
+ "action": {
342
+ "imageid": 26,
343
+ "pos": [
344
+ -194.49842049533612,
345
+ 187.2653920339435,
346
+ -11.566763030045202
347
+ ],
348
+ "type": "turn right",
349
+ "value": 30,
350
+ "yaw": -0.5235987755982988
351
+ }
352
+ }
353
+ {
354
+ "action": {
355
+ "imageid": 27,
356
+ "pos": [
357
+ -194.49842049533612,
358
+ 187.2653920339435,
359
+ -11.566763030045202
360
+ ],
361
+ "type": "go straight",
362
+ "value": 3,
363
+ "yaw": -0.5235987755982988
364
+ }
365
+ }
366
+ {
367
+ "action": {
368
+ "imageid": 28,
369
+ "pos": [
370
+ -191.9003442839828,
371
+ 185.7653920339435,
372
+ -11.566763030045202
373
+ ],
374
+ "type": "turn right",
375
+ "value": 30,
376
+ "yaw": -0.5235987755982988
377
+ }
378
+ }
379
+ {
380
+ "action": {
381
+ "imageid": 29,
382
+ "pos": [
383
+ -191.9003442839828,
384
+ 185.7653920339435,
385
+ -11.566763030045202
386
+ ],
387
+ "type": "go straight",
388
+ "value": 3,
389
+ "yaw": -1.0471975511965976
390
+ }
391
+ }
392
+ {
393
+ "action": {
394
+ "imageid": 30,
395
+ "pos": [
396
+ -190.4003442839828,
397
+ 183.16731582259018,
398
+ -11.566763030045202
399
+ ],
400
+ "type": "go straight",
401
+ "value": 3,
402
+ "yaw": -1.0471975511965979
403
+ }
404
+ }
405
+ {
406
+ "action": {
407
+ "imageid": 31,
408
+ "pos": [
409
+ -188.9003442839828,
410
+ 180.56923961123687,
411
+ -11.566763030045202
412
+ ],
413
+ "type": "turn left",
414
+ "value": 30,
415
+ "yaw": -1.0471975511965979
416
+ }
417
+ }
418
+ {
419
+ "action": {
420
+ "imageid": 32,
421
+ "pos": [
422
+ -188.9003442839828,
423
+ 180.56923961123687,
424
+ -11.566763030045202
425
+ ],
426
+ "type": "go straight",
427
+ "value": 3,
428
+ "yaw": -0.523598775598299
429
+ }
430
+ }
431
+ {
432
+ "action": {
433
+ "imageid": 33,
434
+ "pos": [
435
+ -186.3022680726295,
436
+ 179.06923961123687,
437
+ -11.566763030045202
438
+ ],
439
+ "type": "go straight",
440
+ "value": 3,
441
+ "yaw": -0.5235987755982988
442
+ }
443
+ }
444
+ {
445
+ "action": {
446
+ "imageid": 34,
447
+ "pos": [
448
+ -183.70419186127617,
449
+ 177.56923961123687,
450
+ -11.566763030045202
451
+ ],
452
+ "type": "go straight",
453
+ "value": 3,
454
+ "yaw": -0.5235987755982988
455
+ }
456
+ }
457
+ {
458
+ "action": {
459
+ "imageid": 35,
460
+ "pos": [
461
+ -181.10611564992286,
462
+ 176.06923961123687,
463
+ -11.566763030045202
464
+ ],
465
+ "type": "go straight",
466
+ "value": 3,
467
+ "yaw": -0.5235987755982988
468
+ }
469
+ }
470
+ {
471
+ "action": {
472
+ "imageid": 36,
473
+ "pos": [
474
+ -178.50803943856954,
475
+ 174.56923961123687,
476
+ -11.566763030045202
477
+ ],
478
+ "type": "go straight",
479
+ "value": 3,
480
+ "yaw": -0.5235987755982988
481
+ }
482
+ }
483
+ {
484
+ "action": {
485
+ "imageid": 37,
486
+ "pos": [
487
+ -175.90996322721622,
488
+ 173.06923961123687,
489
+ -11.566763030045202
490
+ ],
491
+ "type": "go straight",
492
+ "value": 3,
493
+ "yaw": -0.5235987755982988
494
+ }
495
+ }
496
+ {
497
+ "action": {
498
+ "imageid": 38,
499
+ "pos": [
500
+ -173.3118870158629,
501
+ 171.56923961123687,
502
+ -11.566763030045202
503
+ ],
504
+ "type": "go straight",
505
+ "value": 3,
506
+ "yaw": -0.5235987755982988
507
+ }
508
+ }
509
+ {
510
+ "action": {
511
+ "imageid": 39,
512
+ "pos": [
513
+ -170.7138108045096,
514
+ 170.06923961123687,
515
+ -11.566763030045202
516
+ ],
517
+ "type": "go straight",
518
+ "value": 3,
519
+ "yaw": -0.5235987755982988
520
+ }
521
+ }
522
+ {
523
+ "action": {
524
+ "imageid": 40,
525
+ "pos": [
526
+ -168.11573459315628,
527
+ 168.56923961123687,
528
+ -11.566763030045202
529
+ ],
530
+ "type": "go straight",
531
+ "value": 3,
532
+ "yaw": -0.5235987755982988
533
+ }
534
+ }
535
+ {
536
+ "action": {
537
+ "imageid": 41,
538
+ "pos": [
539
+ -165.51765838180296,
540
+ 167.06923961123687,
541
+ -11.566763030045202
542
+ ],
543
+ "type": "go straight",
544
+ "value": 3,
545
+ "yaw": -0.5235987755982988
546
+ }
547
+ }
548
+ {
549
+ "action": {
550
+ "imageid": 42,
551
+ "pos": [
552
+ -162.91958217044964,
553
+ 165.56923961123687,
554
+ -11.566763030045202
555
+ ],
556
+ "type": "go straight",
557
+ "value": 3,
558
+ "yaw": -0.5235987755982988
559
+ }
560
+ }
561
+ {
562
+ "action": {
563
+ "imageid": 43,
564
+ "pos": [
565
+ -160.32150595909633,
566
+ 164.06923961123687,
567
+ -11.566763030045202
568
+ ],
569
+ "type": "go straight",
570
+ "value": 3,
571
+ "yaw": -0.5235987755982988
572
+ }
573
+ }
574
+ {
575
+ "action": {
576
+ "imageid": 44,
577
+ "pos": [
578
+ -157.723429747743,
579
+ 162.56923961123687,
580
+ -11.566763030045202
581
+ ],
582
+ "type": "go straight",
583
+ "value": 3,
584
+ "yaw": -0.5235987755982988
585
+ }
586
+ }
587
+ {
588
+ "action": {
589
+ "imageid": 45,
590
+ "pos": [
591
+ -155.1253535363897,
592
+ 161.06923961123687,
593
+ -11.566763030045202
594
+ ],
595
+ "type": "go straight",
596
+ "value": 3,
597
+ "yaw": -0.5235987755982988
598
+ }
599
+ }
600
+ {
601
+ "action": {
602
+ "imageid": 46,
603
+ "pos": [
604
+ -152.52727732503638,
605
+ 159.56923961123687,
606
+ -11.566763030045202
607
+ ],
608
+ "type": "go straight",
609
+ "value": 3,
610
+ "yaw": -0.5235987755982988
611
+ }
612
+ }
613
+ {
614
+ "action": {
615
+ "imageid": 47,
616
+ "pos": [
617
+ -149.92920111368306,
618
+ 158.06923961123687,
619
+ -11.566763030045202
620
+ ],
621
+ "type": "go straight",
622
+ "value": 3,
623
+ "yaw": -0.5235987755982988
624
+ }
625
+ }
626
+ {
627
+ "action": {
628
+ "imageid": 48,
629
+ "pos": [
630
+ -147.33112490232975,
631
+ 156.56923961123687,
632
+ -11.566763030045202
633
+ ],
634
+ "type": "go straight",
635
+ "value": 3,
636
+ "yaw": -0.5235987755982988
637
+ }
638
+ }
639
+ {
640
+ "action": {
641
+ "imageid": 49,
642
+ "pos": [
643
+ -144.73304869097643,
644
+ 155.06923961123687,
645
+ -11.566763030045202
646
+ ],
647
+ "type": "go straight",
648
+ "value": 3,
649
+ "yaw": -0.5235987755982988
650
+ }
651
+ }
652
+ {
653
+ "action": {
654
+ "imageid": 50,
655
+ "pos": [
656
+ -142.13497247962312,
657
+ 153.56923961123687,
658
+ -11.566763030045202
659
+ ],
660
+ "type": "go straight",
661
+ "value": 3,
662
+ "yaw": -0.5235987755982988
663
+ }
664
+ }
665
+ {
666
+ "action": {
667
+ "imageid": 51,
668
+ "pos": [
669
+ -139.5368962682698,
670
+ 152.06923961123687,
671
+ -11.566763030045202
672
+ ],
673
+ "type": "stop",
674
+ "value": 0,
675
+ "yaw": -0.5235987755982988
676
+ }
677
+ }
678
+ {
679
+ "aim_landmark": {
680
+ "color": "test",
681
+ "feature": "test",
682
+ "position": [
683
+ -139.05165119171144,
684
+ 149.82844924926758,
685
+ 0.0
686
+ ],
687
+ "shape": "test",
688
+ "size": "test",
689
+ "type": "building"
690
+ }
691
+ }
Image/env_gs_nwpu01/astar_data/long/2025-1-13_14-37-11_2114738097/pose.jsonl ADDED
@@ -0,0 +1,665 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 30.538878103081416,
6
+ 332.0970809107514,
7
+ -17.579115220197828
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 0.0
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 33.538878103081416,
19
+ 332.0970809107514,
20
+ -17.579115220197828
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 0.0
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 36.538878103081416,
32
+ 332.0970809107514,
33
+ -17.579115220197828
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 0.0
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 39.538878103081416,
45
+ 332.0970809107514,
46
+ -17.579115220197828
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 0.0
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 42.538878103081416,
58
+ 332.0970809107514,
59
+ -17.579115220197828
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 0.0
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 45.538878103081416,
71
+ 332.0970809107514,
72
+ -17.579115220197828
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 0.0
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 48.538878103081416,
84
+ 332.0970809107514,
85
+ -17.579115220197828
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 0.0
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 51.538878103081416,
97
+ 332.0970809107514,
98
+ -17.579115220197828
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 0.0
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 54.538878103081416,
110
+ 332.0970809107514,
111
+ -17.579115220197828
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 0.0
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 57.538878103081416,
123
+ 332.0970809107514,
124
+ -17.579115220197828
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 0.0
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 60.538878103081416,
136
+ 332.0970809107514,
137
+ -17.579115220197828
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 0.0
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 63.538878103081416,
149
+ 332.0970809107514,
150
+ -17.579115220197828
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 0.0
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 66.53887810308142,
162
+ 332.0970809107514,
163
+ -17.579115220197828
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 0.0
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 69.53887810308142,
175
+ 332.0970809107514,
176
+ -17.579115220197828
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 0.0
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 72.53887810308142,
188
+ 332.0970809107514,
189
+ -17.579115220197828
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 0.0
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 75.53887810308142,
201
+ 332.0970809107514,
202
+ -17.579115220197828
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 0.0
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 78.53887810308142,
214
+ 332.0970809107514,
215
+ -17.579115220197828
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 0.0
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 81.53887810308142,
227
+ 332.0970809107514,
228
+ -17.579115220197828
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 0.0
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 84.53887810308142,
240
+ 332.0970809107514,
241
+ -17.579115220197828
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 0.0
246
+ }
247
+ }
248
+ {
249
+ "aim_landmark": {
250
+ "color": "test",
251
+ "feature": "test",
252
+ "position": [
253
+ 89.44900555610657,
254
+ 332.70357608795166,
255
+ 0.0
256
+ ],
257
+ "shape": "test",
258
+ "size": "test",
259
+ "type": "building"
260
+ }
261
+ }
262
+ {
263
+ "action": {
264
+ "imageid": 20,
265
+ "pos": [
266
+ 87.53887810308142,
267
+ 332.0970809107514,
268
+ -17.579115220197828
269
+ ],
270
+ "type": "turn right",
271
+ "value": 30,
272
+ "yaw": 0.0
273
+ }
274
+ }
275
+ {
276
+ "action": {
277
+ "imageid": 21,
278
+ "pos": [
279
+ 87.53887810308142,
280
+ 332.0970809107514,
281
+ -17.579115220197828
282
+ ],
283
+ "type": "turn right",
284
+ "value": 30,
285
+ "yaw": -0.5235987755982988
286
+ }
287
+ }
288
+ {
289
+ "action": {
290
+ "imageid": 22,
291
+ "pos": [
292
+ 87.53887810308142,
293
+ 332.0970809107514,
294
+ -17.579115220197828
295
+ ],
296
+ "type": "turn right",
297
+ "value": 30,
298
+ "yaw": -1.0471975511965976
299
+ }
300
+ }
301
+ {
302
+ "action": {
303
+ "imageid": 23,
304
+ "pos": [
305
+ 87.53887810308142,
306
+ 332.0970809107514,
307
+ -17.579115220197828
308
+ ],
309
+ "type": "go straight",
310
+ "value": 3,
311
+ "yaw": -1.0471975511965979
312
+ }
313
+ }
314
+ {
315
+ "action": {
316
+ "imageid": 24,
317
+ "pos": [
318
+ 89.03887810308142,
319
+ 329.4990046993981,
320
+ -17.579115220197828
321
+ ],
322
+ "type": "go straight",
323
+ "value": 3,
324
+ "yaw": -1.0471975511965979
325
+ }
326
+ }
327
+ {
328
+ "action": {
329
+ "imageid": 25,
330
+ "pos": [
331
+ 90.53887810308142,
332
+ 326.90092848804477,
333
+ -17.579115220197828
334
+ ],
335
+ "type": "turn left",
336
+ "value": 30,
337
+ "yaw": -1.0471975511965979
338
+ }
339
+ }
340
+ {
341
+ "action": {
342
+ "imageid": 26,
343
+ "pos": [
344
+ 90.53887810308142,
345
+ 326.90092848804477,
346
+ -17.579115220197828
347
+ ],
348
+ "type": "go straight",
349
+ "value": 3,
350
+ "yaw": -0.523598775598299
351
+ }
352
+ }
353
+ {
354
+ "action": {
355
+ "imageid": 27,
356
+ "pos": [
357
+ 93.13695431443473,
358
+ 325.40092848804477,
359
+ -17.579115220197828
360
+ ],
361
+ "type": "go straight",
362
+ "value": 3,
363
+ "yaw": -0.5235987755982988
364
+ }
365
+ }
366
+ {
367
+ "action": {
368
+ "imageid": 28,
369
+ "pos": [
370
+ 95.73503052578805,
371
+ 323.90092848804477,
372
+ -17.579115220197828
373
+ ],
374
+ "type": "go straight",
375
+ "value": 3,
376
+ "yaw": -0.5235987755982988
377
+ }
378
+ }
379
+ {
380
+ "action": {
381
+ "imageid": 29,
382
+ "pos": [
383
+ 98.33310673714136,
384
+ 322.40092848804477,
385
+ -17.579115220197828
386
+ ],
387
+ "type": "go straight",
388
+ "value": 3,
389
+ "yaw": -0.5235987755982988
390
+ }
391
+ }
392
+ {
393
+ "action": {
394
+ "imageid": 30,
395
+ "pos": [
396
+ 100.93118294849468,
397
+ 320.90092848804477,
398
+ -17.579115220197828
399
+ ],
400
+ "type": "go straight",
401
+ "value": 3,
402
+ "yaw": -0.5235987755982988
403
+ }
404
+ }
405
+ {
406
+ "action": {
407
+ "imageid": 31,
408
+ "pos": [
409
+ 103.529259159848,
410
+ 319.40092848804477,
411
+ -17.579115220197828
412
+ ],
413
+ "type": "go straight",
414
+ "value": 3,
415
+ "yaw": -0.5235987755982988
416
+ }
417
+ }
418
+ {
419
+ "action": {
420
+ "imageid": 32,
421
+ "pos": [
422
+ 106.12733537120131,
423
+ 317.90092848804477,
424
+ -17.579115220197828
425
+ ],
426
+ "type": "go straight",
427
+ "value": 3,
428
+ "yaw": -0.5235987755982988
429
+ }
430
+ }
431
+ {
432
+ "action": {
433
+ "imageid": 33,
434
+ "pos": [
435
+ 108.72541158255463,
436
+ 316.40092848804477,
437
+ -17.579115220197828
438
+ ],
439
+ "type": "go straight",
440
+ "value": 3,
441
+ "yaw": -0.5235987755982988
442
+ }
443
+ }
444
+ {
445
+ "action": {
446
+ "imageid": 34,
447
+ "pos": [
448
+ 111.32348779390794,
449
+ 314.90092848804477,
450
+ -17.579115220197828
451
+ ],
452
+ "type": "go straight",
453
+ "value": 3,
454
+ "yaw": -0.5235987755982988
455
+ }
456
+ }
457
+ {
458
+ "action": {
459
+ "imageid": 35,
460
+ "pos": [
461
+ 113.92156400526126,
462
+ 313.40092848804477,
463
+ -17.579115220197828
464
+ ],
465
+ "type": "go straight",
466
+ "value": 3,
467
+ "yaw": -0.5235987755982988
468
+ }
469
+ }
470
+ {
471
+ "action": {
472
+ "imageid": 36,
473
+ "pos": [
474
+ 116.51964021661458,
475
+ 311.90092848804477,
476
+ -17.579115220197828
477
+ ],
478
+ "type": "go straight",
479
+ "value": 3,
480
+ "yaw": -0.5235987755982988
481
+ }
482
+ }
483
+ {
484
+ "action": {
485
+ "imageid": 37,
486
+ "pos": [
487
+ 119.11771642796789,
488
+ 310.40092848804477,
489
+ -17.579115220197828
490
+ ],
491
+ "type": "go straight",
492
+ "value": 3,
493
+ "yaw": -0.5235987755982988
494
+ }
495
+ }
496
+ {
497
+ "action": {
498
+ "imageid": 38,
499
+ "pos": [
500
+ 121.71579263932121,
501
+ 308.90092848804477,
502
+ -17.579115220197828
503
+ ],
504
+ "type": "go straight",
505
+ "value": 3,
506
+ "yaw": -0.5235987755982988
507
+ }
508
+ }
509
+ {
510
+ "action": {
511
+ "imageid": 39,
512
+ "pos": [
513
+ 124.31386885067452,
514
+ 307.40092848804477,
515
+ -17.579115220197828
516
+ ],
517
+ "type": "go straight",
518
+ "value": 3,
519
+ "yaw": -0.5235987755982988
520
+ }
521
+ }
522
+ {
523
+ "action": {
524
+ "imageid": 40,
525
+ "pos": [
526
+ 126.91194506202784,
527
+ 305.90092848804477,
528
+ -17.579115220197828
529
+ ],
530
+ "type": "go straight",
531
+ "value": 3,
532
+ "yaw": -0.5235987755982988
533
+ }
534
+ }
535
+ {
536
+ "action": {
537
+ "imageid": 41,
538
+ "pos": [
539
+ 129.51002127338114,
540
+ 304.40092848804477,
541
+ -17.579115220197828
542
+ ],
543
+ "type": "go straight",
544
+ "value": 3,
545
+ "yaw": -0.5235987755983013
546
+ }
547
+ }
548
+ {
549
+ "action": {
550
+ "imageid": 42,
551
+ "pos": [
552
+ 132.10809748473446,
553
+ 302.90092848804477,
554
+ -17.579115220197828
555
+ ],
556
+ "type": "go straight",
557
+ "value": 3,
558
+ "yaw": -0.5235987755982988
559
+ }
560
+ }
561
+ {
562
+ "action": {
563
+ "imageid": 43,
564
+ "pos": [
565
+ 134.70617369608777,
566
+ 301.40092848804477,
567
+ -17.579115220197828
568
+ ],
569
+ "type": "go straight",
570
+ "value": 3,
571
+ "yaw": -0.5235987755982988
572
+ }
573
+ }
574
+ {
575
+ "action": {
576
+ "imageid": 44,
577
+ "pos": [
578
+ 137.3042499074411,
579
+ 299.90092848804477,
580
+ -17.579115220197828
581
+ ],
582
+ "type": "turn right",
583
+ "value": 30,
584
+ "yaw": -0.5235987755982988
585
+ }
586
+ }
587
+ {
588
+ "action": {
589
+ "imageid": 45,
590
+ "pos": [
591
+ 137.3042499074411,
592
+ 299.90092848804477,
593
+ -17.579115220197828
594
+ ],
595
+ "type": "go straight",
596
+ "value": 3,
597
+ "yaw": -1.0471975511965976
598
+ }
599
+ }
600
+ {
601
+ "action": {
602
+ "imageid": 46,
603
+ "pos": [
604
+ 138.8042499074411,
605
+ 297.30285227669145,
606
+ -17.579115220197828
607
+ ],
608
+ "type": "go straight",
609
+ "value": 3,
610
+ "yaw": -1.0471975511965979
611
+ }
612
+ }
613
+ {
614
+ "action": {
615
+ "imageid": 47,
616
+ "pos": [
617
+ 140.3042499074411,
618
+ 294.70477606533814,
619
+ -17.579115220197828
620
+ ],
621
+ "type": "go straight",
622
+ "value": 3,
623
+ "yaw": -1.0471975511965979
624
+ }
625
+ }
626
+ {
627
+ "action": {
628
+ "imageid": 48,
629
+ "pos": [
630
+ 141.8042499074411,
631
+ 292.1066998539848,
632
+ -17.579115220197828
633
+ ],
634
+ "type": "go straight",
635
+ "value": 3,
636
+ "yaw": -1.0471975511965979
637
+ }
638
+ }
639
+ {
640
+ "action": {
641
+ "imageid": 49,
642
+ "pos": [
643
+ 143.3042499074411,
644
+ 289.5086236426315,
645
+ -17.579115220197828
646
+ ],
647
+ "type": "stop",
648
+ "value": 0,
649
+ "yaw": -1.0471975511965979
650
+ }
651
+ }
652
+ {
653
+ "aim_landmark": {
654
+ "color": "test",
655
+ "feature": "test",
656
+ "position": [
657
+ 144.2937671661377,
658
+ 286.0436576843262,
659
+ 0.0
660
+ ],
661
+ "shape": "test",
662
+ "size": "test",
663
+ "type": "building"
664
+ }
665
+ }
Image/env_gs_nwpu01/astar_data/long/2025-1-13_14-39-54_631704567/pose.jsonl ADDED
@@ -0,0 +1,678 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -84.24221438997745,
6
+ 97.60138173242413,
7
+ -23.341031771207543
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 1.5707963267948966
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -84.24221438997745,
19
+ 100.60138173242413,
20
+ -23.341031771207543
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 1.5707963267948966
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -84.24221438997745,
32
+ 103.60138173242413,
33
+ -23.341031771207543
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 1.5707963267948966
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -84.24221438997745,
45
+ 106.60138173242413,
46
+ -23.341031771207543
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 1.5707963267948966
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -84.24221438997745,
58
+ 109.60138173242413,
59
+ -23.341031771207543
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 1.5707963267948966
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -84.24221438997745,
71
+ 112.60138173242413,
72
+ -23.341031771207543
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 1.5707963267948966
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -84.24221438997745,
84
+ 115.60138173242413,
85
+ -23.341031771207543
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 1.5707963267948966
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -84.24221438997745,
97
+ 118.60138173242413,
98
+ -23.341031771207543
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 1.5707963267948966
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -84.24221438997745,
110
+ 121.60138173242413,
111
+ -23.341031771207543
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 1.5707963267948966
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -84.24221438997745,
123
+ 124.60138173242413,
124
+ -23.341031771207543
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 1.5707963267948966
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -84.24221438997745,
136
+ 127.60138173242413,
137
+ -23.341031771207543
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 1.5707963267948966
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -84.24221438997745,
149
+ 130.60138173242413,
150
+ -23.341031771207543
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 1.5707963267948966
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -84.24221438997745,
162
+ 133.60138173242413,
163
+ -23.341031771207543
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 1.5707963267948966
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -84.24221438997745,
175
+ 136.60138173242413,
176
+ -23.341031771207543
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 1.5707963267948966
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -84.24221438997745,
188
+ 139.60138173242413,
189
+ -23.341031771207543
190
+ ],
191
+ "type": "turn left",
192
+ "value": 30,
193
+ "yaw": 1.5707963267948966
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -84.24221438997745,
201
+ 139.60138173242413,
202
+ -23.341031771207543
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 2.0943951023931953
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -85.74221438997745,
214
+ 142.19945794377745,
215
+ -23.341031771207543
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 2.0943951023931953
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -87.24221438997745,
227
+ 144.79753415513076,
228
+ -23.341031771207543
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 2.0943951023931953
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -88.74221438997745,
240
+ 147.39561036648408,
241
+ -23.341031771207543
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 2.0943951023931953
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -90.24221438997745,
253
+ 149.9936865778374,
254
+ -23.341031771207543
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 2.0943951023931953
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -91.74221438997745,
266
+ 152.5917627891907,
267
+ -23.341031771207543
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 2.0943951023931953
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -93.24221438997745,
279
+ 155.18983900054403,
280
+ -23.341031771207543
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 2.0943951023931953
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -94.74221438997745,
292
+ 157.78791521189734,
293
+ -23.341031771207543
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 2.0943951023931953
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -96.24221438997745,
305
+ 160.38599142325066,
306
+ -23.341031771207543
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": 2.0943951023931953
311
+ }
312
+ }
313
+ {
314
+ "aim_landmark": {
315
+ "color": "test",
316
+ "feature": "test",
317
+ "position": [
318
+ -100.36164784431458,
319
+ 165.10346708297732,
320
+ 0.0
321
+ ],
322
+ "shape": "test",
323
+ "size": "test",
324
+ "type": "building"
325
+ }
326
+ }
327
+ {
328
+ "action": {
329
+ "imageid": 25,
330
+ "pos": [
331
+ -97.74221438997745,
332
+ 162.98406763460397,
333
+ -23.341031771207543
334
+ ],
335
+ "type": "turn right",
336
+ "value": 30,
337
+ "yaw": 2.0943951023931953
338
+ }
339
+ }
340
+ {
341
+ "action": {
342
+ "imageid": 26,
343
+ "pos": [
344
+ -97.74221438997745,
345
+ 162.98406763460397,
346
+ -23.341031771207543
347
+ ],
348
+ "type": "turn right",
349
+ "value": 30,
350
+ "yaw": 1.5707963267948966
351
+ }
352
+ }
353
+ {
354
+ "action": {
355
+ "imageid": 27,
356
+ "pos": [
357
+ -97.74221438997745,
358
+ 162.98406763460397,
359
+ -23.341031771207543
360
+ ],
361
+ "type": "go straight",
362
+ "value": 3,
363
+ "yaw": 1.0471975511965979
364
+ }
365
+ }
366
+ {
367
+ "action": {
368
+ "imageid": 28,
369
+ "pos": [
370
+ -96.24221438997745,
371
+ 165.5821438459573,
372
+ -23.341031771207543
373
+ ],
374
+ "type": "go straight",
375
+ "value": 3,
376
+ "yaw": 1.0471975511965979
377
+ }
378
+ }
379
+ {
380
+ "action": {
381
+ "imageid": 29,
382
+ "pos": [
383
+ -94.74221438997745,
384
+ 168.1802200573106,
385
+ -23.341031771207543
386
+ ],
387
+ "type": "go straight",
388
+ "value": 3,
389
+ "yaw": 1.0471975511965979
390
+ }
391
+ }
392
+ {
393
+ "action": {
394
+ "imageid": 30,
395
+ "pos": [
396
+ -93.24221438997745,
397
+ 170.77829626866392,
398
+ -23.341031771207543
399
+ ],
400
+ "type": "go straight",
401
+ "value": 3,
402
+ "yaw": 1.0471975511965979
403
+ }
404
+ }
405
+ {
406
+ "action": {
407
+ "imageid": 31,
408
+ "pos": [
409
+ -91.74221438997745,
410
+ 173.37637248001724,
411
+ -23.341031771207543
412
+ ],
413
+ "type": "go straight",
414
+ "value": 3,
415
+ "yaw": 1.0471975511965979
416
+ }
417
+ }
418
+ {
419
+ "action": {
420
+ "imageid": 32,
421
+ "pos": [
422
+ -90.24221438997745,
423
+ 175.97444869137055,
424
+ -23.341031771207543
425
+ ],
426
+ "type": "go straight",
427
+ "value": 3,
428
+ "yaw": 1.0471975511965979
429
+ }
430
+ }
431
+ {
432
+ "action": {
433
+ "imageid": 33,
434
+ "pos": [
435
+ -88.74221438997745,
436
+ 178.57252490272387,
437
+ -23.341031771207543
438
+ ],
439
+ "type": "go straight",
440
+ "value": 3,
441
+ "yaw": 1.0471975511965979
442
+ }
443
+ }
444
+ {
445
+ "action": {
446
+ "imageid": 34,
447
+ "pos": [
448
+ -87.24221438997745,
449
+ 181.1706011140772,
450
+ -23.341031771207543
451
+ ],
452
+ "type": "go straight",
453
+ "value": 3,
454
+ "yaw": 1.0471975511965979
455
+ }
456
+ }
457
+ {
458
+ "action": {
459
+ "imageid": 35,
460
+ "pos": [
461
+ -85.74221438997745,
462
+ 183.7686773254305,
463
+ -23.341031771207543
464
+ ],
465
+ "type": "go straight",
466
+ "value": 3,
467
+ "yaw": 1.0471975511965979
468
+ }
469
+ }
470
+ {
471
+ "action": {
472
+ "imageid": 36,
473
+ "pos": [
474
+ -84.24221438997745,
475
+ 186.36675353678382,
476
+ -23.341031771207543
477
+ ],
478
+ "type": "go straight",
479
+ "value": 3,
480
+ "yaw": 1.0471975511965979
481
+ }
482
+ }
483
+ {
484
+ "action": {
485
+ "imageid": 37,
486
+ "pos": [
487
+ -82.74221438997745,
488
+ 188.96482974813713,
489
+ -23.341031771207543
490
+ ],
491
+ "type": "go straight",
492
+ "value": 3,
493
+ "yaw": 1.0471975511965979
494
+ }
495
+ }
496
+ {
497
+ "action": {
498
+ "imageid": 38,
499
+ "pos": [
500
+ -81.24221438997745,
501
+ 191.56290595949045,
502
+ -23.341031771207543
503
+ ],
504
+ "type": "go straight",
505
+ "value": 3,
506
+ "yaw": 1.0471975511965979
507
+ }
508
+ }
509
+ {
510
+ "action": {
511
+ "imageid": 39,
512
+ "pos": [
513
+ -79.74221438997745,
514
+ 194.16098217084377,
515
+ -23.341031771207543
516
+ ],
517
+ "type": "go straight",
518
+ "value": 3,
519
+ "yaw": 1.0471975511965979
520
+ }
521
+ }
522
+ {
523
+ "action": {
524
+ "imageid": 40,
525
+ "pos": [
526
+ -78.24221438997745,
527
+ 196.75905838219708,
528
+ -23.341031771207543
529
+ ],
530
+ "type": "go straight",
531
+ "value": 3,
532
+ "yaw": 1.0471975511965979
533
+ }
534
+ }
535
+ {
536
+ "action": {
537
+ "imageid": 41,
538
+ "pos": [
539
+ -76.74221438997745,
540
+ 199.3571345935504,
541
+ -23.341031771207543
542
+ ],
543
+ "type": "turn left",
544
+ "value": 30,
545
+ "yaw": 1.0471975511965979
546
+ }
547
+ }
548
+ {
549
+ "action": {
550
+ "imageid": 42,
551
+ "pos": [
552
+ -76.74221438997745,
553
+ 199.3571345935504,
554
+ -23.341031771207543
555
+ ],
556
+ "type": "go straight",
557
+ "value": 3,
558
+ "yaw": 1.5707963267948966
559
+ }
560
+ }
561
+ {
562
+ "action": {
563
+ "imageid": 43,
564
+ "pos": [
565
+ -76.74221438997745,
566
+ 202.3571345935504,
567
+ -23.341031771207543
568
+ ],
569
+ "type": "go straight",
570
+ "value": 3,
571
+ "yaw": 1.5707963267948966
572
+ }
573
+ }
574
+ {
575
+ "action": {
576
+ "imageid": 44,
577
+ "pos": [
578
+ -76.74221438997745,
579
+ 205.3571345935504,
580
+ -23.341031771207543
581
+ ],
582
+ "type": "go straight",
583
+ "value": 3,
584
+ "yaw": 1.5707963267948966
585
+ }
586
+ }
587
+ {
588
+ "action": {
589
+ "imageid": 45,
590
+ "pos": [
591
+ -76.74221438997745,
592
+ 208.3571345935504,
593
+ -23.341031771207543
594
+ ],
595
+ "type": "go straight",
596
+ "value": 3,
597
+ "yaw": 1.5707963267948966
598
+ }
599
+ }
600
+ {
601
+ "action": {
602
+ "imageid": 46,
603
+ "pos": [
604
+ -76.74221438997745,
605
+ 211.3571345935504,
606
+ -23.341031771207543
607
+ ],
608
+ "type": "go straight",
609
+ "value": 3,
610
+ "yaw": 1.5707963267948966
611
+ }
612
+ }
613
+ {
614
+ "action": {
615
+ "imageid": 47,
616
+ "pos": [
617
+ -76.74221438997745,
618
+ 214.3571345935504,
619
+ -23.341031771207543
620
+ ],
621
+ "type": "go straight",
622
+ "value": 3,
623
+ "yaw": 1.5707963267948966
624
+ }
625
+ }
626
+ {
627
+ "action": {
628
+ "imageid": 48,
629
+ "pos": [
630
+ -76.74221438997745,
631
+ 217.3571345935504,
632
+ -23.341031771207543
633
+ ],
634
+ "type": "go straight",
635
+ "value": 3,
636
+ "yaw": 1.5707963267948966
637
+ }
638
+ }
639
+ {
640
+ "action": {
641
+ "imageid": 49,
642
+ "pos": [
643
+ -76.74221438997745,
644
+ 220.3571345935504,
645
+ -23.341031771207543
646
+ ],
647
+ "type": "go straight",
648
+ "value": 3,
649
+ "yaw": 1.5707963267948966
650
+ }
651
+ }
652
+ {
653
+ "action": {
654
+ "imageid": 50,
655
+ "pos": [
656
+ -76.74221438997745,
657
+ 223.3571345935504,
658
+ -23.341031771207543
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
+ -78.11547446250916,
671
+ 225.18597507476807,
672
+ 0.0
673
+ ],
674
+ "shape": "test",
675
+ "size": "test",
676
+ "type": "building"
677
+ }
678
+ }
Image/env_gs_nwpu01/astar_data/long/2025-1-13_14-48-32_1373226340/pose.jsonl ADDED
@@ -0,0 +1,782 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 164.01873241184424,
6
+ 344.2250956673432,
7
+ -21.873471971026632
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 3.141592653589793
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 161.01873241184424,
19
+ 344.2250956673432,
20
+ -21.873471971026632
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 3.141592653589793
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 158.01873241184424,
32
+ 344.2250956673432,
33
+ -21.873471971026632
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 3.141592653589793
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 155.01873241184424,
45
+ 344.2250956673432,
46
+ -21.873471971026632
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 3.141592653589793
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 152.01873241184424,
58
+ 344.2250956673432,
59
+ -21.873471971026632
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 3.141592653589793
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 149.01873241184424,
71
+ 344.2250956673432,
72
+ -21.873471971026632
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 3.141592653589793
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 146.01873241184424,
84
+ 344.2250956673432,
85
+ -21.873471971026632
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 3.141592653589793
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 143.01873241184424,
97
+ 344.2250956673432,
98
+ -21.873471971026632
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 3.141592653589793
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 140.01873241184424,
110
+ 344.2250956673432,
111
+ -21.873471971026632
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 3.141592653589793
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 137.01873241184424,
123
+ 344.2250956673432,
124
+ -21.873471971026632
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 3.141592653589793
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 134.01873241184424,
136
+ 344.2250956673432,
137
+ -21.873471971026632
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 3.141592653589793
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 131.01873241184424,
149
+ 344.2250956673432,
150
+ -21.873471971026632
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 3.141592653589793
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 128.01873241184424,
162
+ 344.2250956673432,
163
+ -21.873471971026632
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 3.141592653589793
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 125.01873241184424,
175
+ 344.2250956673432,
176
+ -21.873471971026632
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 3.141592653589793
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 122.01873241184424,
188
+ 344.2250956673432,
189
+ -21.873471971026632
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 3.141592653589793
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 119.01873241184424,
201
+ 344.2250956673432,
202
+ -21.873471971026632
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 3.141592653589793
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 116.01873241184424,
214
+ 344.2250956673432,
215
+ -21.873471971026632
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 3.141592653589793
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 113.01873241184424,
227
+ 344.2250956673432,
228
+ -21.873471971026632
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 3.141592653589793
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 110.01873241184424,
240
+ 344.2250956673432,
241
+ -21.873471971026632
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 3.141592653589793
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 107.01873241184424,
253
+ 344.2250956673432,
254
+ -21.873471971026632
255
+ ],
256
+ "type": "turn left",
257
+ "value": 30,
258
+ "yaw": 3.141592653589793
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 107.01873241184424,
266
+ 344.2250956673432,
267
+ -21.873471971026632
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 3.665191429188092
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 104.42065620049092,
279
+ 342.7250956673432,
280
+ -21.873471971026632
281
+ ],
282
+ "type": "turn left",
283
+ "value": 30,
284
+ "yaw": -2.6179938779914944
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 104.42065620049092,
292
+ 342.7250956673432,
293
+ -21.873471971026632
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -2.0943951023931957
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 102.92065620049092,
305
+ 340.1270194559899,
306
+ -21.873471971026632
307
+ ],
308
+ "type": "turn right",
309
+ "value": 30,
310
+ "yaw": -2.0943951023931953
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ 102.92065620049092,
318
+ 340.1270194559899,
319
+ -21.873471971026632
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": -2.617993877991494
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ 100.32257998913761,
331
+ 338.6270194559899,
332
+ -21.873471971026632
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": -2.6179938779914944
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ 97.72450377778429,
344
+ 337.1270194559899,
345
+ -21.873471971026632
346
+ ],
347
+ "type": "go straight",
348
+ "value": 3,
349
+ "yaw": -2.6179938779914944
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ 95.12642756643098,
357
+ 335.6270194559899,
358
+ -21.873471971026632
359
+ ],
360
+ "type": "go straight",
361
+ "value": 3,
362
+ "yaw": -2.6179938779914944
363
+ }
364
+ }
365
+ {
366
+ "aim_landmark": {
367
+ "color": "test",
368
+ "feature": "test",
369
+ "position": [
370
+ 89.44900555610657,
371
+ 332.70357608795166,
372
+ 0.0
373
+ ],
374
+ "shape": "test",
375
+ "size": "test",
376
+ "type": "building"
377
+ }
378
+ }
379
+ {
380
+ "action": {
381
+ "imageid": 29,
382
+ "pos": [
383
+ 92.52835135507766,
384
+ 334.1270194559899,
385
+ -21.873471971026632
386
+ ],
387
+ "type": "turn left",
388
+ "value": 30,
389
+ "yaw": -2.6179938779914944
390
+ }
391
+ }
392
+ {
393
+ "action": {
394
+ "imageid": 30,
395
+ "pos": [
396
+ 92.52835135507766,
397
+ 334.1270194559899,
398
+ -21.873471971026632
399
+ ],
400
+ "type": "turn left",
401
+ "value": 30,
402
+ "yaw": -2.0943951023931957
403
+ }
404
+ }
405
+ {
406
+ "action": {
407
+ "imageid": 31,
408
+ "pos": [
409
+ 92.52835135507766,
410
+ 334.1270194559899,
411
+ -21.873471971026632
412
+ ],
413
+ "type": "turn left",
414
+ "value": 30,
415
+ "yaw": -1.5707963267948968
416
+ }
417
+ }
418
+ {
419
+ "action": {
420
+ "imageid": 32,
421
+ "pos": [
422
+ 92.52835135507766,
423
+ 334.1270194559899,
424
+ -21.873471971026632
425
+ ],
426
+ "type": "turn left",
427
+ "value": 30,
428
+ "yaw": -1.0471975511965979
429
+ }
430
+ }
431
+ {
432
+ "action": {
433
+ "imageid": 33,
434
+ "pos": [
435
+ 92.52835135507766,
436
+ 334.1270194559899,
437
+ -21.873471971026632
438
+ ],
439
+ "type": "go straight",
440
+ "value": 3,
441
+ "yaw": -1.0471975511965979
442
+ }
443
+ }
444
+ {
445
+ "action": {
446
+ "imageid": 34,
447
+ "pos": [
448
+ 94.02835135507766,
449
+ 331.5289432446366,
450
+ -21.873471971026632
451
+ ],
452
+ "type": "go straight",
453
+ "value": 3,
454
+ "yaw": -1.0471975511965979
455
+ }
456
+ }
457
+ {
458
+ "action": {
459
+ "imageid": 35,
460
+ "pos": [
461
+ 95.52835135507766,
462
+ 328.9308670332833,
463
+ -21.873471971026632
464
+ ],
465
+ "type": "go straight",
466
+ "value": 3,
467
+ "yaw": -1.0471975511965979
468
+ }
469
+ }
470
+ {
471
+ "action": {
472
+ "imageid": 36,
473
+ "pos": [
474
+ 97.02835135507766,
475
+ 326.33279082192996,
476
+ -21.873471971026632
477
+ ],
478
+ "type": "go straight",
479
+ "value": 3,
480
+ "yaw": -1.0471975511965979
481
+ }
482
+ }
483
+ {
484
+ "action": {
485
+ "imageid": 37,
486
+ "pos": [
487
+ 98.52835135507766,
488
+ 323.73471461057665,
489
+ -21.873471971026632
490
+ ],
491
+ "type": "go straight",
492
+ "value": 3,
493
+ "yaw": -1.0471975511965979
494
+ }
495
+ }
496
+ {
497
+ "action": {
498
+ "imageid": 38,
499
+ "pos": [
500
+ 100.02835135507766,
501
+ 321.13663839922333,
502
+ -21.873471971026632
503
+ ],
504
+ "type": "go straight",
505
+ "value": 3,
506
+ "yaw": -1.0471975511965979
507
+ }
508
+ }
509
+ {
510
+ "action": {
511
+ "imageid": 39,
512
+ "pos": [
513
+ 101.52835135507766,
514
+ 318.53856218787,
515
+ -21.873471971026632
516
+ ],
517
+ "type": "go straight",
518
+ "value": 3,
519
+ "yaw": -1.0471975511965979
520
+ }
521
+ }
522
+ {
523
+ "action": {
524
+ "imageid": 40,
525
+ "pos": [
526
+ 103.02835135507766,
527
+ 315.9404859765167,
528
+ -21.873471971026632
529
+ ],
530
+ "type": "go straight",
531
+ "value": 3,
532
+ "yaw": -1.0471975511965979
533
+ }
534
+ }
535
+ {
536
+ "action": {
537
+ "imageid": 41,
538
+ "pos": [
539
+ 104.52835135507766,
540
+ 313.3424097651634,
541
+ -21.873471971026632
542
+ ],
543
+ "type": "go straight",
544
+ "value": 3,
545
+ "yaw": -1.0471975511965979
546
+ }
547
+ }
548
+ {
549
+ "action": {
550
+ "imageid": 42,
551
+ "pos": [
552
+ 106.02835135507766,
553
+ 310.74433355381007,
554
+ -21.873471971026632
555
+ ],
556
+ "type": "go straight",
557
+ "value": 3,
558
+ "yaw": -1.0471975511965979
559
+ }
560
+ }
561
+ {
562
+ "action": {
563
+ "imageid": 43,
564
+ "pos": [
565
+ 107.52835135507766,
566
+ 308.14625734245675,
567
+ -21.873471971026632
568
+ ],
569
+ "type": "go straight",
570
+ "value": 3,
571
+ "yaw": -1.0471975511965979
572
+ }
573
+ }
574
+ {
575
+ "action": {
576
+ "imageid": 44,
577
+ "pos": [
578
+ 109.02835135507766,
579
+ 305.54818113110343,
580
+ -21.873471971026632
581
+ ],
582
+ "type": "turn left",
583
+ "value": 30,
584
+ "yaw": -1.0471975511965979
585
+ }
586
+ }
587
+ {
588
+ "action": {
589
+ "imageid": 45,
590
+ "pos": [
591
+ 109.02835135507766,
592
+ 305.54818113110343,
593
+ -21.873471971026632
594
+ ],
595
+ "type": "go straight",
596
+ "value": 3,
597
+ "yaw": -0.523598775598299
598
+ }
599
+ }
600
+ {
601
+ "action": {
602
+ "imageid": 46,
603
+ "pos": [
604
+ 111.62642756643098,
605
+ 304.04818113110343,
606
+ -21.873471971026632
607
+ ],
608
+ "type": "go straight",
609
+ "value": 3,
610
+ "yaw": -0.5235987755982988
611
+ }
612
+ }
613
+ {
614
+ "action": {
615
+ "imageid": 47,
616
+ "pos": [
617
+ 114.22450377778429,
618
+ 302.54818113110343,
619
+ -21.873471971026632
620
+ ],
621
+ "type": "go straight",
622
+ "value": 3,
623
+ "yaw": -0.5235987755982988
624
+ }
625
+ }
626
+ {
627
+ "action": {
628
+ "imageid": 48,
629
+ "pos": [
630
+ 116.82257998913761,
631
+ 301.04818113110343,
632
+ -21.873471971026632
633
+ ],
634
+ "type": "go straight",
635
+ "value": 3,
636
+ "yaw": -0.5235987755982988
637
+ }
638
+ }
639
+ {
640
+ "action": {
641
+ "imageid": 49,
642
+ "pos": [
643
+ 119.42065620049092,
644
+ 299.54818113110343,
645
+ -21.873471971026632
646
+ ],
647
+ "type": "go straight",
648
+ "value": 3,
649
+ "yaw": -0.5235987755982988
650
+ }
651
+ }
652
+ {
653
+ "action": {
654
+ "imageid": 50,
655
+ "pos": [
656
+ 122.01873241184424,
657
+ 298.04818113110343,
658
+ -21.873471971026632
659
+ ],
660
+ "type": "go straight",
661
+ "value": 3,
662
+ "yaw": -0.5235987755982988
663
+ }
664
+ }
665
+ {
666
+ "action": {
667
+ "imageid": 51,
668
+ "pos": [
669
+ 124.61680862319756,
670
+ 296.54818113110343,
671
+ -21.873471971026632
672
+ ],
673
+ "type": "go straight",
674
+ "value": 3,
675
+ "yaw": -0.5235987755982988
676
+ }
677
+ }
678
+ {
679
+ "action": {
680
+ "imageid": 52,
681
+ "pos": [
682
+ 127.21488483455087,
683
+ 295.04818113110343,
684
+ -21.873471971026632
685
+ ],
686
+ "type": "go straight",
687
+ "value": 3,
688
+ "yaw": -0.5235987755982988
689
+ }
690
+ }
691
+ {
692
+ "action": {
693
+ "imageid": 53,
694
+ "pos": [
695
+ 129.8129610459042,
696
+ 293.54818113110343,
697
+ -21.873471971026632
698
+ ],
699
+ "type": "go straight",
700
+ "value": 3,
701
+ "yaw": -0.5235987755982988
702
+ }
703
+ }
704
+ {
705
+ "action": {
706
+ "imageid": 54,
707
+ "pos": [
708
+ 132.4110372572575,
709
+ 292.04818113110343,
710
+ -21.873471971026632
711
+ ],
712
+ "type": "go straight",
713
+ "value": 3,
714
+ "yaw": -0.5235987755982988
715
+ }
716
+ }
717
+ {
718
+ "action": {
719
+ "imageid": 55,
720
+ "pos": [
721
+ 135.00911346861082,
722
+ 290.54818113110343,
723
+ -21.873471971026632
724
+ ],
725
+ "type": "go straight",
726
+ "value": 3,
727
+ "yaw": -0.5235987755982988
728
+ }
729
+ }
730
+ {
731
+ "action": {
732
+ "imageid": 56,
733
+ "pos": [
734
+ 137.60718967996414,
735
+ 289.04818113110343,
736
+ -21.873471971026632
737
+ ],
738
+ "type": "go straight",
739
+ "value": 3,
740
+ "yaw": -0.5235987755982988
741
+ }
742
+ }
743
+ {
744
+ "action": {
745
+ "imageid": 57,
746
+ "pos": [
747
+ 140.20526589131745,
748
+ 287.54818113110343,
749
+ -21.873471971026632
750
+ ],
751
+ "type": "go straight",
752
+ "value": 3,
753
+ "yaw": -0.5235987755982988
754
+ }
755
+ }
756
+ {
757
+ "action": {
758
+ "imageid": 58,
759
+ "pos": [
760
+ 142.80334210267077,
761
+ 286.04818113110343,
762
+ -21.873471971026632
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
+ 144.2937671661377,
775
+ 286.0436576843262,
776
+ 0.0
777
+ ],
778
+ "shape": "test",
779
+ "size": "test",
780
+ "type": "building"
781
+ }
782
+ }
Image/env_gs_nwpu01/astar_data/long/2025-1-13_14-59-14_1275373743/pose.jsonl ADDED
@@ -0,0 +1,717 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -37.196128064744485,
6
+ 503.3808488425253,
7
+ -16.326044629214266
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -2.0943951023931953
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -38.696128064744485,
19
+ 500.782772631172,
20
+ -16.326044629214266
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -2.0943951023931953
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -40.196128064744485,
32
+ 498.1846964198187,
33
+ -16.326044629214266
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -2.0943951023931953
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -41.696128064744485,
45
+ 495.5866202084654,
46
+ -16.326044629214266
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -2.0943951023931953
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -43.196128064744485,
58
+ 492.98854399711206,
59
+ -16.326044629214266
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -2.0943951023931953
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -44.696128064744485,
71
+ 490.39046778575874,
72
+ -16.326044629214266
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -2.0943951023931953
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -46.196128064744485,
84
+ 487.79239157440543,
85
+ -16.326044629214266
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -2.0943951023931953
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -47.696128064744485,
97
+ 485.1943153630521,
98
+ -16.326044629214266
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -2.0943951023931953
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -49.196128064744485,
110
+ 482.5962391516988,
111
+ -16.326044629214266
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -2.0943951023931953
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -50.696128064744485,
123
+ 479.9981629403455,
124
+ -16.326044629214266
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -2.0943951023931953
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -52.196128064744485,
136
+ 477.40008672899216,
137
+ -16.326044629214266
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -2.0943951023931953
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -53.696128064744485,
149
+ 474.80201051763885,
150
+ -16.326044629214266
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -2.0943951023931953
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -55.196128064744485,
162
+ 472.20393430628553,
163
+ -16.326044629214266
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -2.0943951023931953
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -56.696128064744485,
175
+ 469.6058580949322,
176
+ -16.326044629214266
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -2.0943951023931953
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -58.196128064744485,
188
+ 467.0077818835789,
189
+ -16.326044629214266
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -2.0943951023931953
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -59.696128064744485,
201
+ 464.4097056722256,
202
+ -16.326044629214266
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -2.0943951023931953
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -61.196128064744485,
214
+ 461.81162946087227,
215
+ -16.326044629214266
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -2.0943951023931953
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -62.696128064744485,
227
+ 459.21355324951895,
228
+ -16.326044629214266
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -2.0943951023931953
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -64.19612806474449,
240
+ 456.61547703816564,
241
+ -16.326044629214266
242
+ ],
243
+ "type": "turn left",
244
+ "value": 30,
245
+ "yaw": -2.0943951023931953
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -64.19612806474449,
253
+ 456.61547703816564,
254
+ -16.326044629214266
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -1.5707963267948966
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -64.19612806474449,
266
+ 453.61547703816564,
267
+ -16.326044629214266
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -1.5707963267948966
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -64.19612806474449,
279
+ 450.61547703816564,
280
+ -16.326044629214266
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -1.5707963267948966
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -64.19612806474449,
292
+ 447.61547703816564,
293
+ -16.326044629214266
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -1.5707963267948966
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -64.19612806474449,
305
+ 444.61547703816564,
306
+ -16.326044629214266
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": -1.5707963267948966
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -64.19612806474449,
318
+ 441.61547703816564,
319
+ -16.326044629214266
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": -1.5707963267948966
324
+ }
325
+ }
326
+ {
327
+ "aim_landmark": {
328
+ "color": "test",
329
+ "feature": "test",
330
+ "position": [
331
+ -63.5878408908844,
332
+ 436.78047485351567,
333
+ 0.0
334
+ ],
335
+ "shape": "test",
336
+ "size": "test",
337
+ "type": "building"
338
+ }
339
+ }
340
+ {
341
+ "action": {
342
+ "imageid": 26,
343
+ "pos": [
344
+ -64.19612806474449,
345
+ 438.61547703816564,
346
+ -16.326044629214266
347
+ ],
348
+ "type": "turn left",
349
+ "value": 30,
350
+ "yaw": -1.5707963267948966
351
+ }
352
+ }
353
+ {
354
+ "action": {
355
+ "imageid": 27,
356
+ "pos": [
357
+ -64.19612806474449,
358
+ 438.61547703816564,
359
+ -16.326044629214266
360
+ ],
361
+ "type": "go straight",
362
+ "value": 3,
363
+ "yaw": -1.0471975511965979
364
+ }
365
+ }
366
+ {
367
+ "action": {
368
+ "imageid": 28,
369
+ "pos": [
370
+ -62.696128064744485,
371
+ 436.0174008268123,
372
+ -16.326044629214266
373
+ ],
374
+ "type": "go straight",
375
+ "value": 3,
376
+ "yaw": -1.0471975511965979
377
+ }
378
+ }
379
+ {
380
+ "action": {
381
+ "imageid": 29,
382
+ "pos": [
383
+ -61.196128064744485,
384
+ 433.419324615459,
385
+ -16.326044629214266
386
+ ],
387
+ "type": "go straight",
388
+ "value": 3,
389
+ "yaw": -1.0471975511965979
390
+ }
391
+ }
392
+ {
393
+ "action": {
394
+ "imageid": 30,
395
+ "pos": [
396
+ -59.696128064744485,
397
+ 430.8212484041057,
398
+ -16.326044629214266
399
+ ],
400
+ "type": "go straight",
401
+ "value": 3,
402
+ "yaw": -1.0471975511965979
403
+ }
404
+ }
405
+ {
406
+ "action": {
407
+ "imageid": 31,
408
+ "pos": [
409
+ -58.196128064744485,
410
+ 428.2231721927524,
411
+ -16.326044629214266
412
+ ],
413
+ "type": "go straight",
414
+ "value": 3,
415
+ "yaw": -1.0471975511965979
416
+ }
417
+ }
418
+ {
419
+ "action": {
420
+ "imageid": 32,
421
+ "pos": [
422
+ -56.696128064744485,
423
+ 425.62509598139906,
424
+ -16.326044629214266
425
+ ],
426
+ "type": "go straight",
427
+ "value": 3,
428
+ "yaw": -1.0471975511965979
429
+ }
430
+ }
431
+ {
432
+ "action": {
433
+ "imageid": 33,
434
+ "pos": [
435
+ -55.196128064744485,
436
+ 423.02701977004574,
437
+ -16.326044629214266
438
+ ],
439
+ "type": "go straight",
440
+ "value": 3,
441
+ "yaw": -1.0471975511965979
442
+ }
443
+ }
444
+ {
445
+ "action": {
446
+ "imageid": 34,
447
+ "pos": [
448
+ -53.696128064744485,
449
+ 420.4289435586924,
450
+ -16.326044629214266
451
+ ],
452
+ "type": "go straight",
453
+ "value": 3,
454
+ "yaw": -1.0471975511965979
455
+ }
456
+ }
457
+ {
458
+ "action": {
459
+ "imageid": 35,
460
+ "pos": [
461
+ -52.196128064744485,
462
+ 417.8308673473391,
463
+ -16.326044629214266
464
+ ],
465
+ "type": "go straight",
466
+ "value": 3,
467
+ "yaw": -1.0471975511965979
468
+ }
469
+ }
470
+ {
471
+ "action": {
472
+ "imageid": 36,
473
+ "pos": [
474
+ -50.696128064744485,
475
+ 415.2327911359858,
476
+ -16.326044629214266
477
+ ],
478
+ "type": "go straight",
479
+ "value": 3,
480
+ "yaw": -1.0471975511965979
481
+ }
482
+ }
483
+ {
484
+ "action": {
485
+ "imageid": 37,
486
+ "pos": [
487
+ -49.196128064744485,
488
+ 412.6347149246325,
489
+ -16.326044629214266
490
+ ],
491
+ "type": "go straight",
492
+ "value": 3,
493
+ "yaw": -1.0471975511965979
494
+ }
495
+ }
496
+ {
497
+ "action": {
498
+ "imageid": 38,
499
+ "pos": [
500
+ -47.696128064744485,
501
+ 410.03663871327916,
502
+ -16.326044629214266
503
+ ],
504
+ "type": "go straight",
505
+ "value": 3,
506
+ "yaw": -1.0471975511965979
507
+ }
508
+ }
509
+ {
510
+ "action": {
511
+ "imageid": 39,
512
+ "pos": [
513
+ -46.196128064744485,
514
+ 407.43856250192584,
515
+ -16.326044629214266
516
+ ],
517
+ "type": "go straight",
518
+ "value": 3,
519
+ "yaw": -1.0471975511965979
520
+ }
521
+ }
522
+ {
523
+ "action": {
524
+ "imageid": 40,
525
+ "pos": [
526
+ -44.696128064744485,
527
+ 404.8404862905725,
528
+ -16.326044629214266
529
+ ],
530
+ "type": "go straight",
531
+ "value": 3,
532
+ "yaw": -1.0471975511965979
533
+ }
534
+ }
535
+ {
536
+ "action": {
537
+ "imageid": 41,
538
+ "pos": [
539
+ -43.196128064744485,
540
+ 402.2424100792192,
541
+ -16.326044629214266
542
+ ],
543
+ "type": "go straight",
544
+ "value": 3,
545
+ "yaw": -1.0471975511965979
546
+ }
547
+ }
548
+ {
549
+ "action": {
550
+ "imageid": 42,
551
+ "pos": [
552
+ -41.696128064744485,
553
+ 399.6443338678659,
554
+ -16.326044629214266
555
+ ],
556
+ "type": "go straight",
557
+ "value": 3,
558
+ "yaw": -1.0471975511965979
559
+ }
560
+ }
561
+ {
562
+ "action": {
563
+ "imageid": 43,
564
+ "pos": [
565
+ -40.196128064744485,
566
+ 397.0462576565126,
567
+ -16.326044629214266
568
+ ],
569
+ "type": "go straight",
570
+ "value": 3,
571
+ "yaw": -1.0471975511965979
572
+ }
573
+ }
574
+ {
575
+ "action": {
576
+ "imageid": 44,
577
+ "pos": [
578
+ -38.696128064744485,
579
+ 394.44818144515926,
580
+ -16.326044629214266
581
+ ],
582
+ "type": "go straight",
583
+ "value": 3,
584
+ "yaw": -1.0471975511965979
585
+ }
586
+ }
587
+ {
588
+ "action": {
589
+ "imageid": 45,
590
+ "pos": [
591
+ -37.196128064744485,
592
+ 391.85010523380595,
593
+ -16.326044629214266
594
+ ],
595
+ "type": "go straight",
596
+ "value": 3,
597
+ "yaw": -1.0471975511965979
598
+ }
599
+ }
600
+ {
601
+ "action": {
602
+ "imageid": 46,
603
+ "pos": [
604
+ -35.696128064744485,
605
+ 389.25202902245263,
606
+ -16.326044629214266
607
+ ],
608
+ "type": "go straight",
609
+ "value": 3,
610
+ "yaw": -1.0471975511965979
611
+ }
612
+ }
613
+ {
614
+ "action": {
615
+ "imageid": 47,
616
+ "pos": [
617
+ -34.196128064744485,
618
+ 386.6539528110993,
619
+ -16.326044629214266
620
+ ],
621
+ "type": "go straight",
622
+ "value": 3,
623
+ "yaw": -1.0471975511965979
624
+ }
625
+ }
626
+ {
627
+ "action": {
628
+ "imageid": 48,
629
+ "pos": [
630
+ -32.696128064744485,
631
+ 384.055876599746,
632
+ -16.326044629214266
633
+ ],
634
+ "type": "go straight",
635
+ "value": 3,
636
+ "yaw": -1.0471975511965979
637
+ }
638
+ }
639
+ {
640
+ "action": {
641
+ "imageid": 49,
642
+ "pos": [
643
+ -31.196128064744485,
644
+ 381.4578003883927,
645
+ -16.326044629214266
646
+ ],
647
+ "type": "turn right",
648
+ "value": 30,
649
+ "yaw": -1.0471975511965979
650
+ }
651
+ }
652
+ {
653
+ "action": {
654
+ "imageid": 50,
655
+ "pos": [
656
+ -31.196128064744485,
657
+ 381.4578003883927,
658
+ -16.326044629214266
659
+ ],
660
+ "type": "go straight",
661
+ "value": 3,
662
+ "yaw": -1.5707963267948966
663
+ }
664
+ }
665
+ {
666
+ "action": {
667
+ "imageid": 51,
668
+ "pos": [
669
+ -31.196128064744485,
670
+ 378.4578003883927,
671
+ -16.326044629214266
672
+ ],
673
+ "type": "go straight",
674
+ "value": 3,
675
+ "yaw": -1.5707963267948966
676
+ }
677
+ }
678
+ {
679
+ "action": {
680
+ "imageid": 52,
681
+ "pos": [
682
+ -31.196128064744485,
683
+ 375.4578003883927,
684
+ -16.326044629214266
685
+ ],
686
+ "type": "go straight",
687
+ "value": 3,
688
+ "yaw": -1.5707963267948966
689
+ }
690
+ }
691
+ {
692
+ "action": {
693
+ "imageid": 53,
694
+ "pos": [
695
+ -31.196128064744485,
696
+ 372.4578003883927,
697
+ -16.326044629214266
698
+ ],
699
+ "type": "stop",
700
+ "value": 0,
701
+ "yaw": -1.5707963267948966
702
+ }
703
+ }
704
+ {
705
+ "aim_landmark": {
706
+ "color": "test",
707
+ "feature": "test",
708
+ "position": [
709
+ -29.34419298171997,
710
+ 370.07065830230715,
711
+ 0.0
712
+ ],
713
+ "shape": "test",
714
+ "size": "test",
715
+ "type": "building"
716
+ }
717
+ }