Datasets:

License:
mistletoe235 commited on
Commit
35052f7
·
verified ·
1 Parent(s): 2b14439

Add files using upload-large-folder tool

Browse files
Image/env_gs_nwpu01/astar_data/long/2025-1-13_12-38-3_1315634022/pose.jsonl ADDED
@@ -0,0 +1,756 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 6.450618063759947,
6
+ 222.40742063811072,
7
+ -11.998748870198511
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 2.6179938779914944
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 3.852541852406631,
19
+ 223.90742063811072,
20
+ -11.998748870198511
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 2.6179938779914944
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 1.254465641053315,
32
+ 225.40742063811072,
33
+ -11.998748870198511
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 2.6179938779914944
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -1.343610570300001,
45
+ 226.90742063811072,
46
+ -11.998748870198511
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 2.6179938779914944
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -3.941686781653317,
58
+ 228.40742063811072,
59
+ -11.998748870198511
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 2.6179938779914944
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -6.539762993006633,
71
+ 229.90742063811072,
72
+ -11.998748870198511
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 2.6179938779914944
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -9.137839204359949,
84
+ 231.40742063811072,
85
+ -11.998748870198511
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 2.6179938779914944
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -11.735915415713265,
97
+ 232.90742063811072,
98
+ -11.998748870198511
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 2.6179938779914944
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -14.333991627066581,
110
+ 234.40742063811072,
111
+ -11.998748870198511
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 2.6179938779914944
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -16.932067838419897,
123
+ 235.90742063811072,
124
+ -11.998748870198511
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 2.6179938779914944
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -19.530144049773213,
136
+ 237.40742063811072,
137
+ -11.998748870198511
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 2.6179938779914944
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -22.12822026112653,
149
+ 238.90742063811072,
150
+ -11.998748870198511
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 2.6179938779914944
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -24.726296472479845,
162
+ 240.40742063811072,
163
+ -11.998748870198511
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 2.6179938779914944
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -27.32437268383316,
175
+ 241.90742063811072,
176
+ -11.998748870198511
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 2.6179938779914944
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -29.922448895186477,
188
+ 243.40742063811072,
189
+ -11.998748870198511
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 2.6179938779914944
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -32.52052510653979,
201
+ 244.90742063811072,
202
+ -11.998748870198511
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 2.6179938779914944
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -35.11860131789311,
214
+ 246.40742063811072,
215
+ -11.998748870198511
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 2.6179938779914944
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -37.716677529246425,
227
+ 247.90742063811072,
228
+ -11.998748870198511
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 2.6179938779914944
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -40.31475374059974,
240
+ 249.40742063811072,
241
+ -11.998748870198511
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 2.6179938779914944
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -42.91282995195306,
253
+ 250.90742063811072,
254
+ -11.998748870198511
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 2.6179938779914944
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -45.51090616330637,
266
+ 252.40742063811072,
267
+ -11.998748870198511
268
+ ],
269
+ "type": "turn left",
270
+ "value": 30,
271
+ "yaw": 2.6179938779914944
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -45.51090616330637,
279
+ 252.40742063811072,
280
+ -11.998748870198511
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 3.141592653589793
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -48.51090616330637,
292
+ 252.40742063811072,
293
+ -11.998748870198511
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 3.141592653589793
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -51.51090616330637,
305
+ 252.40742063811072,
306
+ -11.998748870198511
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": 3.141592653589793
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -54.51090616330637,
318
+ 252.40742063811072,
319
+ -11.998748870198511
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": 3.141592653589793
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ -57.51090616330637,
331
+ 252.40742063811072,
332
+ -11.998748870198511
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": 3.141592653589793
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ -60.51090616330637,
344
+ 252.40742063811072,
345
+ -11.998748870198511
346
+ ],
347
+ "type": "go straight",
348
+ "value": 3,
349
+ "yaw": 3.141592653589793
350
+ }
351
+ }
352
+ {
353
+ "aim_landmark": {
354
+ "color": "test",
355
+ "feature": "test",
356
+ "position": [
357
+ -66.18976526260376,
358
+ 252.47785472869873,
359
+ 0.0
360
+ ],
361
+ "shape": "test",
362
+ "size": "test",
363
+ "type": "building"
364
+ }
365
+ }
366
+ {
367
+ "action": {
368
+ "imageid": 28,
369
+ "pos": [
370
+ -63.51090616330637,
371
+ 252.40742063811072,
372
+ -11.998748870198511
373
+ ],
374
+ "type": "turn right",
375
+ "value": 30,
376
+ "yaw": 3.141592653589793
377
+ }
378
+ }
379
+ {
380
+ "action": {
381
+ "imageid": 29,
382
+ "pos": [
383
+ -63.51090616330637,
384
+ 252.40742063811072,
385
+ -11.998748870198511
386
+ ],
387
+ "type": "turn right",
388
+ "value": 30,
389
+ "yaw": 2.6179938779914944
390
+ }
391
+ }
392
+ {
393
+ "action": {
394
+ "imageid": 30,
395
+ "pos": [
396
+ -63.51090616330637,
397
+ 252.40742063811072,
398
+ -11.998748870198511
399
+ ],
400
+ "type": "turn right",
401
+ "value": 30,
402
+ "yaw": 2.0943951023931957
403
+ }
404
+ }
405
+ {
406
+ "action": {
407
+ "imageid": 31,
408
+ "pos": [
409
+ -63.51090616330637,
410
+ 252.40742063811072,
411
+ -11.998748870198511
412
+ ],
413
+ "type": "turn right",
414
+ "value": 30,
415
+ "yaw": 1.5707963267948966
416
+ }
417
+ }
418
+ {
419
+ "action": {
420
+ "imageid": 32,
421
+ "pos": [
422
+ -63.51090616330637,
423
+ 252.40742063811072,
424
+ -11.998748870198511
425
+ ],
426
+ "type": "turn right",
427
+ "value": 30,
428
+ "yaw": 1.0471975511965979
429
+ }
430
+ }
431
+ {
432
+ "action": {
433
+ "imageid": 33,
434
+ "pos": [
435
+ -63.51090616330637,
436
+ 252.40742063811072,
437
+ -11.998748870198511
438
+ ],
439
+ "type": "turn right",
440
+ "value": 30,
441
+ "yaw": 0.5235987755982991
442
+ }
443
+ }
444
+ {
445
+ "action": {
446
+ "imageid": 34,
447
+ "pos": [
448
+ -63.51090616330637,
449
+ 252.40742063811072,
450
+ -11.998748870198511
451
+ ],
452
+ "type": "turn right",
453
+ "value": 30,
454
+ "yaw": 0.0
455
+ }
456
+ }
457
+ {
458
+ "action": {
459
+ "imageid": 35,
460
+ "pos": [
461
+ -63.51090616330637,
462
+ 252.40742063811072,
463
+ -11.998748870198511
464
+ ],
465
+ "type": "go straight",
466
+ "value": 3,
467
+ "yaw": 0.0
468
+ }
469
+ }
470
+ {
471
+ "action": {
472
+ "imageid": 36,
473
+ "pos": [
474
+ -60.51090616330637,
475
+ 252.40742063811072,
476
+ -11.998748870198511
477
+ ],
478
+ "type": "go straight",
479
+ "value": 3,
480
+ "yaw": 0.0
481
+ }
482
+ }
483
+ {
484
+ "action": {
485
+ "imageid": 37,
486
+ "pos": [
487
+ -57.51090616330637,
488
+ 252.40742063811072,
489
+ -11.998748870198511
490
+ ],
491
+ "type": "go straight",
492
+ "value": 3,
493
+ "yaw": 0.0
494
+ }
495
+ }
496
+ {
497
+ "action": {
498
+ "imageid": 38,
499
+ "pos": [
500
+ -54.51090616330637,
501
+ 252.40742063811072,
502
+ -11.998748870198511
503
+ ],
504
+ "type": "go straight",
505
+ "value": 3,
506
+ "yaw": 0.0
507
+ }
508
+ }
509
+ {
510
+ "action": {
511
+ "imageid": 39,
512
+ "pos": [
513
+ -51.51090616330637,
514
+ 252.40742063811072,
515
+ -11.998748870198511
516
+ ],
517
+ "type": "go straight",
518
+ "value": 3,
519
+ "yaw": 0.0
520
+ }
521
+ }
522
+ {
523
+ "action": {
524
+ "imageid": 40,
525
+ "pos": [
526
+ -48.51090616330637,
527
+ 252.40742063811072,
528
+ -11.998748870198511
529
+ ],
530
+ "type": "go straight",
531
+ "value": 3,
532
+ "yaw": 0.0
533
+ }
534
+ }
535
+ {
536
+ "action": {
537
+ "imageid": 41,
538
+ "pos": [
539
+ -45.51090616330637,
540
+ 252.40742063811072,
541
+ -11.998748870198511
542
+ ],
543
+ "type": "go straight",
544
+ "value": 3,
545
+ "yaw": 0.0
546
+ }
547
+ }
548
+ {
549
+ "action": {
550
+ "imageid": 42,
551
+ "pos": [
552
+ -42.51090616330637,
553
+ 252.40742063811072,
554
+ -11.998748870198511
555
+ ],
556
+ "type": "go straight",
557
+ "value": 3,
558
+ "yaw": 0.0
559
+ }
560
+ }
561
+ {
562
+ "action": {
563
+ "imageid": 43,
564
+ "pos": [
565
+ -39.51090616330637,
566
+ 252.40742063811072,
567
+ -11.998748870198511
568
+ ],
569
+ "type": "go straight",
570
+ "value": 3,
571
+ "yaw": 0.0
572
+ }
573
+ }
574
+ {
575
+ "action": {
576
+ "imageid": 44,
577
+ "pos": [
578
+ -36.51090616330637,
579
+ 252.40742063811072,
580
+ -11.998748870198511
581
+ ],
582
+ "type": "go straight",
583
+ "value": 3,
584
+ "yaw": 0.0
585
+ }
586
+ }
587
+ {
588
+ "action": {
589
+ "imageid": 45,
590
+ "pos": [
591
+ -33.51090616330637,
592
+ 252.40742063811072,
593
+ -11.998748870198511
594
+ ],
595
+ "type": "go straight",
596
+ "value": 3,
597
+ "yaw": 0.0
598
+ }
599
+ }
600
+ {
601
+ "action": {
602
+ "imageid": 46,
603
+ "pos": [
604
+ -30.510906163306373,
605
+ 252.40742063811072,
606
+ -11.998748870198511
607
+ ],
608
+ "type": "turn left",
609
+ "value": 30,
610
+ "yaw": 0.0
611
+ }
612
+ }
613
+ {
614
+ "action": {
615
+ "imageid": 47,
616
+ "pos": [
617
+ -30.510906163306373,
618
+ 252.40742063811072,
619
+ -11.998748870198511
620
+ ],
621
+ "type": "go straight",
622
+ "value": 3,
623
+ "yaw": 0.5235987755982988
624
+ }
625
+ }
626
+ {
627
+ "action": {
628
+ "imageid": 48,
629
+ "pos": [
630
+ -27.912829951953057,
631
+ 253.90742063811072,
632
+ -11.998748870198511
633
+ ],
634
+ "type": "go straight",
635
+ "value": 3,
636
+ "yaw": 0.5235987755982988
637
+ }
638
+ }
639
+ {
640
+ "action": {
641
+ "imageid": 49,
642
+ "pos": [
643
+ -25.31475374059974,
644
+ 255.40742063811072,
645
+ -11.998748870198511
646
+ ],
647
+ "type": "go straight",
648
+ "value": 3,
649
+ "yaw": 0.5235987755982988
650
+ }
651
+ }
652
+ {
653
+ "action": {
654
+ "imageid": 50,
655
+ "pos": [
656
+ -22.716677529246425,
657
+ 256.9074206381107,
658
+ -11.998748870198511
659
+ ],
660
+ "type": "go straight",
661
+ "value": 3,
662
+ "yaw": 0.5235987755982907
663
+ }
664
+ }
665
+ {
666
+ "action": {
667
+ "imageid": 51,
668
+ "pos": [
669
+ -20.11860131789311,
670
+ 258.4074206381107,
671
+ -11.998748870198511
672
+ ],
673
+ "type": "go straight",
674
+ "value": 3,
675
+ "yaw": 0.5235987755982988
676
+ }
677
+ }
678
+ {
679
+ "action": {
680
+ "imageid": 52,
681
+ "pos": [
682
+ -17.520525106539793,
683
+ 259.9074206381107,
684
+ -11.998748870198511
685
+ ],
686
+ "type": "go straight",
687
+ "value": 3,
688
+ "yaw": 0.5235987755982988
689
+ }
690
+ }
691
+ {
692
+ "action": {
693
+ "imageid": 53,
694
+ "pos": [
695
+ -14.922448895186477,
696
+ 261.4074206381107,
697
+ -11.998748870198511
698
+ ],
699
+ "type": "go straight",
700
+ "value": 3,
701
+ "yaw": 0.5235987755982988
702
+ }
703
+ }
704
+ {
705
+ "action": {
706
+ "imageid": 54,
707
+ "pos": [
708
+ -12.324372683833161,
709
+ 262.9074206381107,
710
+ -11.998748870198511
711
+ ],
712
+ "type": "go straight",
713
+ "value": 3,
714
+ "yaw": 0.5235987755982988
715
+ }
716
+ }
717
+ {
718
+ "action": {
719
+ "imageid": 55,
720
+ "pos": [
721
+ -9.726296472479845,
722
+ 264.4074206381107,
723
+ -11.998748870198511
724
+ ],
725
+ "type": "go straight",
726
+ "value": 3,
727
+ "yaw": 0.5235987755982988
728
+ }
729
+ }
730
+ {
731
+ "action": {
732
+ "imageid": 56,
733
+ "pos": [
734
+ -7.128220261126529,
735
+ 265.9074206381107,
736
+ -11.998748870198511
737
+ ],
738
+ "type": "stop",
739
+ "value": 0,
740
+ "yaw": 0.5235987755982988
741
+ }
742
+ }
743
+ {
744
+ "aim_landmark": {
745
+ "color": "test",
746
+ "feature": "test",
747
+ "position": [
748
+ -4.862148499488831,
749
+ 268.6817756652832,
750
+ 0.0
751
+ ],
752
+ "shape": "test",
753
+ "size": "test",
754
+ "type": "building"
755
+ }
756
+ }
Image/env_gs_nwpu01/astar_data/long/2025-1-13_12-47-39_1424268980/pose.jsonl ADDED
@@ -0,0 +1,678 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -99.09526325325722,
6
+ 99.73995671919258,
7
+ -10.696772743319933
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 2.0943951023931953
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -100.59526325325722,
19
+ 102.33803293054589,
20
+ -10.696772743319933
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 2.0943951023931953
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -102.09526325325722,
32
+ 104.93610914189921,
33
+ -10.696772743319933
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 2.0943951023931953
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -103.59526325325722,
45
+ 107.53418535325252,
46
+ -10.696772743319933
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 2.0943951023931953
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -105.09526325325722,
58
+ 110.13226156460584,
59
+ -10.696772743319933
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 2.0943951023931953
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -106.59526325325722,
71
+ 112.73033777595916,
72
+ -10.696772743319933
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 2.0943951023931953
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -108.09526325325722,
84
+ 115.32841398731247,
85
+ -10.696772743319933
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 2.0943951023931953
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -109.59526325325722,
97
+ 117.92649019866579,
98
+ -10.696772743319933
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 2.0943951023931953
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -111.09526325325722,
110
+ 120.5245664100191,
111
+ -10.696772743319933
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 2.0943951023931953
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -112.59526325325722,
123
+ 123.12264262137242,
124
+ -10.696772743319933
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 2.0943951023931953
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -114.09526325325722,
136
+ 125.72071883272574,
137
+ -10.696772743319933
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 2.0943951023931953
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -115.59526325325722,
149
+ 128.31879504407905,
150
+ -10.696772743319933
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 2.0943951023931953
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -117.09526325325722,
162
+ 130.91687125543237,
163
+ -10.696772743319933
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 2.0943951023931953
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -118.59526325325722,
175
+ 133.51494746678569,
176
+ -10.696772743319933
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 2.0943951023931953
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -120.09526325325722,
188
+ 136.113023678139,
189
+ -10.696772743319933
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 2.0943951023931953
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -121.59526325325722,
201
+ 138.71109988949232,
202
+ -10.696772743319933
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 2.0943951023931953
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -123.09526325325722,
214
+ 141.30917610084563,
215
+ -10.696772743319933
216
+ ],
217
+ "type": "turn left",
218
+ "value": 30,
219
+ "yaw": 2.0943951023931953
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -123.09526325325722,
227
+ 141.30917610084563,
228
+ -10.696772743319933
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 2.617993877991494
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -125.69333946461053,
240
+ 142.80917610084563,
241
+ -10.696772743319933
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 2.6179938779914944
246
+ }
247
+ }
248
+ {
249
+ "aim_landmark": {
250
+ "color": "test",
251
+ "feature": "test",
252
+ "position": [
253
+ -130.05646734237672,
254
+ 147.10406847000124,
255
+ 0.0
256
+ ],
257
+ "shape": "test",
258
+ "size": "test",
259
+ "type": "building"
260
+ }
261
+ }
262
+ {
263
+ "action": {
264
+ "imageid": 20,
265
+ "pos": [
266
+ -128.29141567596383,
267
+ 144.30917610084563,
268
+ -10.696772743319933
269
+ ],
270
+ "type": "turn right",
271
+ "value": 30,
272
+ "yaw": 2.6179938779914944
273
+ }
274
+ }
275
+ {
276
+ "action": {
277
+ "imageid": 21,
278
+ "pos": [
279
+ -128.29141567596383,
280
+ 144.30917610084563,
281
+ -10.696772743319933
282
+ ],
283
+ "type": "turn right",
284
+ "value": 30,
285
+ "yaw": 2.0943951023931957
286
+ }
287
+ }
288
+ {
289
+ "action": {
290
+ "imageid": 22,
291
+ "pos": [
292
+ -128.29141567596383,
293
+ 144.30917610084563,
294
+ -10.696772743319933
295
+ ],
296
+ "type": "turn right",
297
+ "value": 30,
298
+ "yaw": 1.5707963267948968
299
+ }
300
+ }
301
+ {
302
+ "action": {
303
+ "imageid": 23,
304
+ "pos": [
305
+ -128.29141567596383,
306
+ 144.30917610084563,
307
+ -10.696772743319933
308
+ ],
309
+ "type": "turn right",
310
+ "value": 30,
311
+ "yaw": 1.0471975511965979
312
+ }
313
+ }
314
+ {
315
+ "action": {
316
+ "imageid": 24,
317
+ "pos": [
318
+ -128.29141567596383,
319
+ 144.30917610084563,
320
+ -10.696772743319933
321
+ ],
322
+ "type": "turn right",
323
+ "value": 30,
324
+ "yaw": 0.5235987755982991
325
+ }
326
+ }
327
+ {
328
+ "action": {
329
+ "imageid": 25,
330
+ "pos": [
331
+ -128.29141567596383,
332
+ 144.30917610084563,
333
+ -10.696772743319933
334
+ ],
335
+ "type": "go straight",
336
+ "value": 3,
337
+ "yaw": 0.5235987755982988
338
+ }
339
+ }
340
+ {
341
+ "action": {
342
+ "imageid": 26,
343
+ "pos": [
344
+ -125.69333946461052,
345
+ 145.80917610084563,
346
+ -10.696772743319933
347
+ ],
348
+ "type": "go straight",
349
+ "value": 3,
350
+ "yaw": 0.5235987755982988
351
+ }
352
+ }
353
+ {
354
+ "action": {
355
+ "imageid": 27,
356
+ "pos": [
357
+ -123.0952632532572,
358
+ 147.30917610084563,
359
+ -10.696772743319933
360
+ ],
361
+ "type": "go straight",
362
+ "value": 3,
363
+ "yaw": 0.5235987755982988
364
+ }
365
+ }
366
+ {
367
+ "action": {
368
+ "imageid": 28,
369
+ "pos": [
370
+ -120.49718704190389,
371
+ 148.80917610084563,
372
+ -10.696772743319933
373
+ ],
374
+ "type": "go straight",
375
+ "value": 3,
376
+ "yaw": 0.5235987755982988
377
+ }
378
+ }
379
+ {
380
+ "action": {
381
+ "imageid": 29,
382
+ "pos": [
383
+ -117.89911083055057,
384
+ 150.30917610084563,
385
+ -10.696772743319933
386
+ ],
387
+ "type": "go straight",
388
+ "value": 3,
389
+ "yaw": 0.5235987755982988
390
+ }
391
+ }
392
+ {
393
+ "action": {
394
+ "imageid": 30,
395
+ "pos": [
396
+ -115.30103461919725,
397
+ 151.80917610084563,
398
+ -10.696772743319933
399
+ ],
400
+ "type": "go straight",
401
+ "value": 3,
402
+ "yaw": 0.5235987755982988
403
+ }
404
+ }
405
+ {
406
+ "action": {
407
+ "imageid": 31,
408
+ "pos": [
409
+ -112.70295840784394,
410
+ 153.30917610084563,
411
+ -10.696772743319933
412
+ ],
413
+ "type": "go straight",
414
+ "value": 3,
415
+ "yaw": 0.5235987755982988
416
+ }
417
+ }
418
+ {
419
+ "action": {
420
+ "imageid": 32,
421
+ "pos": [
422
+ -110.10488219649062,
423
+ 154.80917610084563,
424
+ -10.696772743319933
425
+ ],
426
+ "type": "go straight",
427
+ "value": 3,
428
+ "yaw": 0.5235987755982988
429
+ }
430
+ }
431
+ {
432
+ "action": {
433
+ "imageid": 33,
434
+ "pos": [
435
+ -107.5068059851373,
436
+ 156.30917610084563,
437
+ -10.696772743319933
438
+ ],
439
+ "type": "go straight",
440
+ "value": 3,
441
+ "yaw": 0.5235987755982988
442
+ }
443
+ }
444
+ {
445
+ "action": {
446
+ "imageid": 34,
447
+ "pos": [
448
+ -104.90872977378399,
449
+ 157.80917610084563,
450
+ -10.696772743319933
451
+ ],
452
+ "type": "go straight",
453
+ "value": 3,
454
+ "yaw": 0.5235987755982988
455
+ }
456
+ }
457
+ {
458
+ "action": {
459
+ "imageid": 35,
460
+ "pos": [
461
+ -102.31065356243067,
462
+ 159.30917610084563,
463
+ -10.696772743319933
464
+ ],
465
+ "type": "go straight",
466
+ "value": 3,
467
+ "yaw": 0.5235987755982988
468
+ }
469
+ }
470
+ {
471
+ "action": {
472
+ "imageid": 36,
473
+ "pos": [
474
+ -99.71257735107736,
475
+ 160.80917610084563,
476
+ -10.696772743319933
477
+ ],
478
+ "type": "go straight",
479
+ "value": 3,
480
+ "yaw": 0.5235987755982988
481
+ }
482
+ }
483
+ {
484
+ "action": {
485
+ "imageid": 37,
486
+ "pos": [
487
+ -97.11450113972404,
488
+ 162.30917610084563,
489
+ -10.696772743319933
490
+ ],
491
+ "type": "go straight",
492
+ "value": 3,
493
+ "yaw": 0.5235987755982988
494
+ }
495
+ }
496
+ {
497
+ "action": {
498
+ "imageid": 38,
499
+ "pos": [
500
+ -94.51642492837072,
501
+ 163.80917610084563,
502
+ -10.696772743319933
503
+ ],
504
+ "type": "go straight",
505
+ "value": 3,
506
+ "yaw": 0.5235987755982988
507
+ }
508
+ }
509
+ {
510
+ "action": {
511
+ "imageid": 39,
512
+ "pos": [
513
+ -91.91834871701741,
514
+ 165.30917610084563,
515
+ -10.696772743319933
516
+ ],
517
+ "type": "go straight",
518
+ "value": 3,
519
+ "yaw": 0.5235987755982988
520
+ }
521
+ }
522
+ {
523
+ "action": {
524
+ "imageid": 40,
525
+ "pos": [
526
+ -89.3202725056641,
527
+ 166.80917610084563,
528
+ -10.696772743319933
529
+ ],
530
+ "type": "turn left",
531
+ "value": 30,
532
+ "yaw": 0.5235987755982988
533
+ }
534
+ }
535
+ {
536
+ "action": {
537
+ "imageid": 41,
538
+ "pos": [
539
+ -89.3202725056641,
540
+ 166.80917610084563,
541
+ -10.696772743319933
542
+ ],
543
+ "type": "go straight",
544
+ "value": 3,
545
+ "yaw": 1.0471975511965976
546
+ }
547
+ }
548
+ {
549
+ "action": {
550
+ "imageid": 42,
551
+ "pos": [
552
+ -87.8202725056641,
553
+ 169.40725231219895,
554
+ -10.696772743319933
555
+ ],
556
+ "type": "go straight",
557
+ "value": 3,
558
+ "yaw": 1.0471975511965979
559
+ }
560
+ }
561
+ {
562
+ "action": {
563
+ "imageid": 43,
564
+ "pos": [
565
+ -86.3202725056641,
566
+ 172.00532852355227,
567
+ -10.696772743319933
568
+ ],
569
+ "type": "go straight",
570
+ "value": 3,
571
+ "yaw": 1.0471975511965979
572
+ }
573
+ }
574
+ {
575
+ "action": {
576
+ "imageid": 44,
577
+ "pos": [
578
+ -84.8202725056641,
579
+ 174.60340473490558,
580
+ -10.696772743319933
581
+ ],
582
+ "type": "go straight",
583
+ "value": 3,
584
+ "yaw": 1.0471975511965979
585
+ }
586
+ }
587
+ {
588
+ "action": {
589
+ "imageid": 45,
590
+ "pos": [
591
+ -83.3202725056641,
592
+ 177.2014809462589,
593
+ -10.696772743319933
594
+ ],
595
+ "type": "go straight",
596
+ "value": 3,
597
+ "yaw": 1.0471975511965979
598
+ }
599
+ }
600
+ {
601
+ "action": {
602
+ "imageid": 46,
603
+ "pos": [
604
+ -81.8202725056641,
605
+ 179.7995571576122,
606
+ -10.696772743319933
607
+ ],
608
+ "type": "go straight",
609
+ "value": 3,
610
+ "yaw": 1.0471975511965979
611
+ }
612
+ }
613
+ {
614
+ "action": {
615
+ "imageid": 47,
616
+ "pos": [
617
+ -80.3202725056641,
618
+ 182.39763336896553,
619
+ -10.696772743319933
620
+ ],
621
+ "type": "go straight",
622
+ "value": 3,
623
+ "yaw": 1.0471975511965979
624
+ }
625
+ }
626
+ {
627
+ "action": {
628
+ "imageid": 48,
629
+ "pos": [
630
+ -78.8202725056641,
631
+ 184.99570958031885,
632
+ -10.696772743319933
633
+ ],
634
+ "type": "go straight",
635
+ "value": 3,
636
+ "yaw": 1.0471975511965979
637
+ }
638
+ }
639
+ {
640
+ "action": {
641
+ "imageid": 49,
642
+ "pos": [
643
+ -77.3202725056641,
644
+ 187.59378579167216,
645
+ -10.696772743319933
646
+ ],
647
+ "type": "go straight",
648
+ "value": 3,
649
+ "yaw": 1.0471975511965979
650
+ }
651
+ }
652
+ {
653
+ "action": {
654
+ "imageid": 50,
655
+ "pos": [
656
+ -75.8202725056641,
657
+ 190.19186200302548,
658
+ -10.696772743319933
659
+ ],
660
+ "type": "stop",
661
+ "value": 0,
662
+ "yaw": 1.0471975511965979
663
+ }
664
+ }
665
+ {
666
+ "aim_landmark": {
667
+ "color": "test",
668
+ "feature": "test",
669
+ "position": [
670
+ -75.5195812702179,
671
+ 191.94742860794068,
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_13-14-39_959997301/pose.jsonl ADDED
@@ -0,0 +1,730 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -13.949332612685396,
6
+ 404.5597848306935,
7
+ -6.355643536379251
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 1.0471975511965979
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -12.449332612685396,
19
+ 407.1578610420468,
20
+ -6.355643536379251
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 1.0471975511965979
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -10.949332612685396,
32
+ 409.75593725340013,
33
+ -6.355643536379251
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 1.0471975511965979
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -9.449332612685396,
45
+ 412.35401346475345,
46
+ -6.355643536379251
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 1.0471975511965979
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -7.949332612685396,
58
+ 414.95208967610677,
59
+ -6.355643536379251
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 1.0471975511965979
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -6.449332612685396,
71
+ 417.5501658874601,
72
+ -6.355643536379251
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 1.0471975511965979
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -4.949332612685396,
84
+ 420.1482420988134,
85
+ -6.355643536379251
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 1.0471975511965979
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -3.4493326126853954,
97
+ 422.7463183101667,
98
+ -6.355643536379251
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 1.0471975511965976
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -1.949332612685395,
110
+ 425.34439452152003,
111
+ -6.355643536379251
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 1.0471975511965976
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -0.4493326126853945,
123
+ 427.94247073287335,
124
+ -6.355643536379251
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 1.0471975511965976
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 1.050667387314606,
136
+ 430.54054694422666,
137
+ -6.355643536379251
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 1.0471975511965976
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 2.5506673873146064,
149
+ 433.13862315558,
150
+ -6.355643536379251
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 1.0471975511965976
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 4.050667387314607,
162
+ 435.7366993669333,
163
+ -6.355643536379251
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 1.0471975511965976
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 5.550667387314608,
175
+ 438.3347755782866,
176
+ -6.355643536379251
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 1.0471975511965974
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 7.050667387314608,
188
+ 440.9328517896399,
189
+ -6.355643536379251
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 1.0471975511965979
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 8.550667387314608,
201
+ 443.53092800099324,
202
+ -6.355643536379251
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 1.0471975511965979
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 10.050667387314608,
214
+ 446.12900421234656,
215
+ -6.355643536379251
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 1.0471975511965979
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 11.550667387314608,
227
+ 448.7270804236999,
228
+ -6.355643536379251
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 1.0471975511965979
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 13.050667387314608,
240
+ 451.3251566350532,
241
+ -6.355643536379251
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 1.0471975511965979
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 14.550667387314608,
253
+ 453.9232328464065,
254
+ -6.355643536379251
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 1.0471975511965979
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 16.050667387314608,
266
+ 456.5213090577598,
267
+ -6.355643536379251
268
+ ],
269
+ "type": "turn left",
270
+ "value": 30,
271
+ "yaw": 1.0471975511965979
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 16.050667387314608,
279
+ 456.5213090577598,
280
+ -6.355643536379251
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 1.5707963267948966
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 16.050667387314608,
292
+ 459.5213090577598,
293
+ -6.355643536379251
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 1.5707963267948966
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 16.050667387314608,
305
+ 462.5213090577598,
306
+ -6.355643536379251
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": 1.5707963267948966
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ 16.050667387314608,
318
+ 465.5213090577598,
319
+ -6.355643536379251
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": 1.5707963267948966
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ 16.050667387314608,
331
+ 468.5213090577598,
332
+ -6.355643536379251
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": 1.5707963267948966
337
+ }
338
+ }
339
+ {
340
+ "aim_landmark": {
341
+ "color": "test",
342
+ "feature": "test",
343
+ "position": [
344
+ 17.448638093471526,
345
+ 473.35583000183107,
346
+ 0.0
347
+ ],
348
+ "shape": "test",
349
+ "size": "test",
350
+ "type": "building"
351
+ }
352
+ }
353
+ {
354
+ "action": {
355
+ "imageid": 27,
356
+ "pos": [
357
+ 16.050667387314608,
358
+ 471.5213090577598,
359
+ -6.355643536379251
360
+ ],
361
+ "type": "turn right",
362
+ "value": 30,
363
+ "yaw": 1.5707963267948966
364
+ }
365
+ }
366
+ {
367
+ "action": {
368
+ "imageid": 28,
369
+ "pos": [
370
+ 16.050667387314608,
371
+ 471.5213090577598,
372
+ -6.355643536379251
373
+ ],
374
+ "type": "turn right",
375
+ "value": 30,
376
+ "yaw": 1.0471975511965979
377
+ }
378
+ }
379
+ {
380
+ "action": {
381
+ "imageid": 29,
382
+ "pos": [
383
+ 16.050667387314608,
384
+ 471.5213090577598,
385
+ -6.355643536379251
386
+ ],
387
+ "type": "turn right",
388
+ "value": 30,
389
+ "yaw": 0.5235987755982989
390
+ }
391
+ }
392
+ {
393
+ "action": {
394
+ "imageid": 30,
395
+ "pos": [
396
+ 16.050667387314608,
397
+ 471.5213090577598,
398
+ -6.355643536379251
399
+ ],
400
+ "type": "turn right",
401
+ "value": 30,
402
+ "yaw": 0.0
403
+ }
404
+ }
405
+ {
406
+ "action": {
407
+ "imageid": 31,
408
+ "pos": [
409
+ 16.050667387314608,
410
+ 471.5213090577598,
411
+ -6.355643536379251
412
+ ],
413
+ "type": "turn right",
414
+ "value": 30,
415
+ "yaw": -0.5235987755982987
416
+ }
417
+ }
418
+ {
419
+ "action": {
420
+ "imageid": 32,
421
+ "pos": [
422
+ 16.050667387314608,
423
+ 471.5213090577598,
424
+ -6.355643536379251
425
+ ],
426
+ "type": "turn right",
427
+ "value": 30,
428
+ "yaw": -1.0471975511965974
429
+ }
430
+ }
431
+ {
432
+ "action": {
433
+ "imageid": 33,
434
+ "pos": [
435
+ 16.050667387314608,
436
+ 471.5213090577598,
437
+ -6.355643536379251
438
+ ],
439
+ "type": "go straight",
440
+ "value": 3,
441
+ "yaw": -1.0471975511965979
442
+ }
443
+ }
444
+ {
445
+ "action": {
446
+ "imageid": 34,
447
+ "pos": [
448
+ 17.550667387314608,
449
+ 468.9232328464065,
450
+ -6.355643536379251
451
+ ],
452
+ "type": "go straight",
453
+ "value": 3,
454
+ "yaw": -1.0471975511965979
455
+ }
456
+ }
457
+ {
458
+ "action": {
459
+ "imageid": 35,
460
+ "pos": [
461
+ 19.050667387314608,
462
+ 466.3251566350532,
463
+ -6.355643536379251
464
+ ],
465
+ "type": "go straight",
466
+ "value": 3,
467
+ "yaw": -1.0471975511965979
468
+ }
469
+ }
470
+ {
471
+ "action": {
472
+ "imageid": 36,
473
+ "pos": [
474
+ 20.550667387314608,
475
+ 463.7270804236999,
476
+ -6.355643536379251
477
+ ],
478
+ "type": "go straight",
479
+ "value": 3,
480
+ "yaw": -1.0471975511965979
481
+ }
482
+ }
483
+ {
484
+ "action": {
485
+ "imageid": 37,
486
+ "pos": [
487
+ 22.050667387314608,
488
+ 461.12900421234656,
489
+ -6.355643536379251
490
+ ],
491
+ "type": "go straight",
492
+ "value": 3,
493
+ "yaw": -1.0471975511965979
494
+ }
495
+ }
496
+ {
497
+ "action": {
498
+ "imageid": 38,
499
+ "pos": [
500
+ 23.550667387314608,
501
+ 458.53092800099324,
502
+ -6.355643536379251
503
+ ],
504
+ "type": "go straight",
505
+ "value": 3,
506
+ "yaw": -1.0471975511965979
507
+ }
508
+ }
509
+ {
510
+ "action": {
511
+ "imageid": 39,
512
+ "pos": [
513
+ 25.050667387314608,
514
+ 455.9328517896399,
515
+ -6.355643536379251
516
+ ],
517
+ "type": "go straight",
518
+ "value": 3,
519
+ "yaw": -1.0471975511965979
520
+ }
521
+ }
522
+ {
523
+ "action": {
524
+ "imageid": 40,
525
+ "pos": [
526
+ 26.550667387314608,
527
+ 453.3347755782866,
528
+ -6.355643536379251
529
+ ],
530
+ "type": "go straight",
531
+ "value": 3,
532
+ "yaw": -1.0471975511965979
533
+ }
534
+ }
535
+ {
536
+ "action": {
537
+ "imageid": 41,
538
+ "pos": [
539
+ 28.050667387314608,
540
+ 450.7366993669333,
541
+ -6.355643536379251
542
+ ],
543
+ "type": "go straight",
544
+ "value": 3,
545
+ "yaw": -1.0471975511965979
546
+ }
547
+ }
548
+ {
549
+ "action": {
550
+ "imageid": 42,
551
+ "pos": [
552
+ 29.550667387314608,
553
+ 448.13862315558,
554
+ -6.355643536379251
555
+ ],
556
+ "type": "go straight",
557
+ "value": 3,
558
+ "yaw": -1.0471975511965979
559
+ }
560
+ }
561
+ {
562
+ "action": {
563
+ "imageid": 43,
564
+ "pos": [
565
+ 31.050667387314608,
566
+ 445.54054694422666,
567
+ -6.355643536379251
568
+ ],
569
+ "type": "go straight",
570
+ "value": 3,
571
+ "yaw": -1.0471975511965979
572
+ }
573
+ }
574
+ {
575
+ "action": {
576
+ "imageid": 44,
577
+ "pos": [
578
+ 32.55066738731461,
579
+ 442.94247073287335,
580
+ -6.355643536379251
581
+ ],
582
+ "type": "go straight",
583
+ "value": 3,
584
+ "yaw": -1.0471975511965967
585
+ }
586
+ }
587
+ {
588
+ "action": {
589
+ "imageid": 45,
590
+ "pos": [
591
+ 34.05066738731461,
592
+ 440.34439452152003,
593
+ -6.355643536379251
594
+ ],
595
+ "type": "go straight",
596
+ "value": 3,
597
+ "yaw": -1.0471975511965979
598
+ }
599
+ }
600
+ {
601
+ "action": {
602
+ "imageid": 46,
603
+ "pos": [
604
+ 35.55066738731461,
605
+ 437.7463183101667,
606
+ -6.355643536379251
607
+ ],
608
+ "type": "go straight",
609
+ "value": 3,
610
+ "yaw": -1.0471975511965979
611
+ }
612
+ }
613
+ {
614
+ "action": {
615
+ "imageid": 47,
616
+ "pos": [
617
+ 37.05066738731461,
618
+ 435.1482420988134,
619
+ -6.355643536379251
620
+ ],
621
+ "type": "go straight",
622
+ "value": 3,
623
+ "yaw": -1.0471975511965979
624
+ }
625
+ }
626
+ {
627
+ "action": {
628
+ "imageid": 48,
629
+ "pos": [
630
+ 38.55066738731461,
631
+ 432.5501658874601,
632
+ -6.355643536379251
633
+ ],
634
+ "type": "turn right",
635
+ "value": 30,
636
+ "yaw": -1.0471975511965979
637
+ }
638
+ }
639
+ {
640
+ "action": {
641
+ "imageid": 49,
642
+ "pos": [
643
+ 38.55066738731461,
644
+ 432.5501658874601,
645
+ -6.355643536379251
646
+ ],
647
+ "type": "go straight",
648
+ "value": 3,
649
+ "yaw": -1.5707963267948966
650
+ }
651
+ }
652
+ {
653
+ "action": {
654
+ "imageid": 50,
655
+ "pos": [
656
+ 38.55066738731461,
657
+ 429.5501658874601,
658
+ -6.355643536379251
659
+ ],
660
+ "type": "go straight",
661
+ "value": 3,
662
+ "yaw": -1.5707963267948966
663
+ }
664
+ }
665
+ {
666
+ "action": {
667
+ "imageid": 51,
668
+ "pos": [
669
+ 38.55066738731461,
670
+ 426.5501658874601,
671
+ -6.355643536379251
672
+ ],
673
+ "type": "go straight",
674
+ "value": 3,
675
+ "yaw": -1.5707963267948966
676
+ }
677
+ }
678
+ {
679
+ "action": {
680
+ "imageid": 52,
681
+ "pos": [
682
+ 38.55066738731461,
683
+ 423.5501658874601,
684
+ -6.355643536379251
685
+ ],
686
+ "type": "go straight",
687
+ "value": 3,
688
+ "yaw": -1.5707963267948966
689
+ }
690
+ }
691
+ {
692
+ "action": {
693
+ "imageid": 53,
694
+ "pos": [
695
+ 38.55066738731461,
696
+ 420.5501658874601,
697
+ -6.355643536379251
698
+ ],
699
+ "type": "go straight",
700
+ "value": 3,
701
+ "yaw": -1.5707963267948966
702
+ }
703
+ }
704
+ {
705
+ "action": {
706
+ "imageid": 54,
707
+ "pos": [
708
+ 38.55066738731461,
709
+ 417.5501658874601,
710
+ -6.355643536379251
711
+ ],
712
+ "type": "stop",
713
+ "value": 0,
714
+ "yaw": -1.5707963267948966
715
+ }
716
+ }
717
+ {
718
+ "aim_landmark": {
719
+ "color": "test",
720
+ "feature": "test",
721
+ "position": [
722
+ 37.990253353118895,
723
+ 414.50321331024173,
724
+ 0.0
725
+ ],
726
+ "shape": "test",
727
+ "size": "test",
728
+ "type": "building"
729
+ }
730
+ }
Image/env_gs_nwpu01/astar_data/long/2025-1-13_13-37-19_111537764/pose.jsonl ADDED
@@ -0,0 +1,795 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 76.36716537825963,
6
+ 374.65428969481144,
7
+ -8.966380601943996
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -1.5707963267948966
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 76.36716537825963,
19
+ 371.65428969481144,
20
+ -8.966380601943996
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -1.5707963267948966
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 76.36716537825963,
32
+ 368.65428969481144,
33
+ -8.966380601943996
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -1.5707963267948966
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 76.36716537825963,
45
+ 365.65428969481144,
46
+ -8.966380601943996
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -1.5707963267948966
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 76.36716537825963,
58
+ 362.65428969481144,
59
+ -8.966380601943996
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -1.5707963267948966
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 76.36716537825963,
71
+ 359.65428969481144,
72
+ -8.966380601943996
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -1.5707963267948966
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 76.36716537825963,
84
+ 356.65428969481144,
85
+ -8.966380601943996
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -1.5707963267948966
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 76.36716537825963,
97
+ 353.65428969481144,
98
+ -8.966380601943996
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -1.5707963267948966
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 76.36716537825963,
110
+ 350.65428969481144,
111
+ -8.966380601943996
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -1.5707963267948966
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 76.36716537825963,
123
+ 347.65428969481144,
124
+ -8.966380601943996
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -1.5707963267948966
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 76.36716537825963,
136
+ 344.65428969481144,
137
+ -8.966380601943996
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -1.5707963267948966
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 76.36716537825963,
149
+ 341.65428969481144,
150
+ -8.966380601943996
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -1.5707963267948966
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 76.36716537825963,
162
+ 338.65428969481144,
163
+ -8.966380601943996
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -1.5707963267948966
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 76.36716537825963,
175
+ 335.65428969481144,
176
+ -8.966380601943996
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -1.5707963267948966
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 76.36716537825963,
188
+ 332.65428969481144,
189
+ -8.966380601943996
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -1.5707963267948966
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 76.36716537825963,
201
+ 329.65428969481144,
202
+ -8.966380601943996
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -1.5707963267948966
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 76.36716537825963,
214
+ 326.65428969481144,
215
+ -8.966380601943996
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -1.5707963267948966
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 76.36716537825963,
227
+ 323.65428969481144,
228
+ -8.966380601943996
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -1.5707963267948966
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 76.36716537825963,
240
+ 320.65428969481144,
241
+ -8.966380601943996
242
+ ],
243
+ "type": "turn right",
244
+ "value": 30,
245
+ "yaw": -1.5707963267948966
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 76.36716537825963,
253
+ 320.65428969481144,
254
+ -8.966380601943996
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -2.0943951023931953
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 74.86716537825963,
266
+ 318.0562134834581,
267
+ -8.966380601943996
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -2.0943951023931953
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 73.36716537825963,
279
+ 315.4581372721048,
280
+ -8.966380601943996
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -2.0943951023931953
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 71.86716537825963,
292
+ 312.8600610607515,
293
+ -8.966380601943996
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -2.0943951023931953
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 70.36716537825963,
305
+ 310.2619848493982,
306
+ -8.966380601943996
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": -2.0943951023931953
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ 68.86716537825963,
318
+ 307.66390863804486,
319
+ -8.966380601943996
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": -2.0943951023931953
324
+ }
325
+ }
326
+ {
327
+ "aim_landmark": {
328
+ "color": "test",
329
+ "feature": "test",
330
+ "position": [
331
+ 66.17132925987244,
332
+ 304.3075149536133,
333
+ 0.0
334
+ ],
335
+ "shape": "test",
336
+ "size": "test",
337
+ "type": "building"
338
+ }
339
+ }
340
+ {
341
+ "action": {
342
+ "imageid": 26,
343
+ "pos": [
344
+ 67.36716537825963,
345
+ 305.06583242669154,
346
+ -8.966380601943996
347
+ ],
348
+ "type": "turn left",
349
+ "value": 30,
350
+ "yaw": -2.0943951023931953
351
+ }
352
+ }
353
+ {
354
+ "action": {
355
+ "imageid": 27,
356
+ "pos": [
357
+ 67.36716537825963,
358
+ 305.06583242669154,
359
+ -8.966380601943996
360
+ ],
361
+ "type": "turn left",
362
+ "value": 30,
363
+ "yaw": -1.5707963267948966
364
+ }
365
+ }
366
+ {
367
+ "action": {
368
+ "imageid": 28,
369
+ "pos": [
370
+ 67.36716537825963,
371
+ 305.06583242669154,
372
+ -8.966380601943996
373
+ ],
374
+ "type": "turn left",
375
+ "value": 30,
376
+ "yaw": -1.0471975511965976
377
+ }
378
+ }
379
+ {
380
+ "action": {
381
+ "imageid": 29,
382
+ "pos": [
383
+ 67.36716537825963,
384
+ 305.06583242669154,
385
+ -8.966380601943996
386
+ ],
387
+ "type": "turn left",
388
+ "value": 30,
389
+ "yaw": -0.5235987755982987
390
+ }
391
+ }
392
+ {
393
+ "action": {
394
+ "imageid": 30,
395
+ "pos": [
396
+ 67.36716537825963,
397
+ 305.06583242669154,
398
+ -8.966380601943996
399
+ ],
400
+ "type": "turn left",
401
+ "value": 30,
402
+ "yaw": 0.0
403
+ }
404
+ }
405
+ {
406
+ "action": {
407
+ "imageid": 31,
408
+ "pos": [
409
+ 67.36716537825963,
410
+ 305.06583242669154,
411
+ -8.966380601943996
412
+ ],
413
+ "type": "go straight",
414
+ "value": 3,
415
+ "yaw": 0.0
416
+ }
417
+ }
418
+ {
419
+ "action": {
420
+ "imageid": 32,
421
+ "pos": [
422
+ 70.36716537825963,
423
+ 305.06583242669154,
424
+ -8.966380601943996
425
+ ],
426
+ "type": "go straight",
427
+ "value": 3,
428
+ "yaw": 0.0
429
+ }
430
+ }
431
+ {
432
+ "action": {
433
+ "imageid": 33,
434
+ "pos": [
435
+ 73.36716537825963,
436
+ 305.06583242669154,
437
+ -8.966380601943996
438
+ ],
439
+ "type": "go straight",
440
+ "value": 3,
441
+ "yaw": 0.0
442
+ }
443
+ }
444
+ {
445
+ "action": {
446
+ "imageid": 34,
447
+ "pos": [
448
+ 76.36716537825963,
449
+ 305.06583242669154,
450
+ -8.966380601943996
451
+ ],
452
+ "type": "go straight",
453
+ "value": 3,
454
+ "yaw": 0.0
455
+ }
456
+ }
457
+ {
458
+ "action": {
459
+ "imageid": 35,
460
+ "pos": [
461
+ 79.36716537825963,
462
+ 305.06583242669154,
463
+ -8.966380601943996
464
+ ],
465
+ "type": "go straight",
466
+ "value": 3,
467
+ "yaw": 0.0
468
+ }
469
+ }
470
+ {
471
+ "action": {
472
+ "imageid": 36,
473
+ "pos": [
474
+ 82.36716537825963,
475
+ 305.06583242669154,
476
+ -8.966380601943996
477
+ ],
478
+ "type": "go straight",
479
+ "value": 3,
480
+ "yaw": 0.0
481
+ }
482
+ }
483
+ {
484
+ "action": {
485
+ "imageid": 37,
486
+ "pos": [
487
+ 85.36716537825963,
488
+ 305.06583242669154,
489
+ -8.966380601943996
490
+ ],
491
+ "type": "go straight",
492
+ "value": 3,
493
+ "yaw": 0.0
494
+ }
495
+ }
496
+ {
497
+ "action": {
498
+ "imageid": 38,
499
+ "pos": [
500
+ 88.36716537825963,
501
+ 305.06583242669154,
502
+ -8.966380601943996
503
+ ],
504
+ "type": "go straight",
505
+ "value": 3,
506
+ "yaw": 0.0
507
+ }
508
+ }
509
+ {
510
+ "action": {
511
+ "imageid": 39,
512
+ "pos": [
513
+ 91.36716537825963,
514
+ 305.06583242669154,
515
+ -8.966380601943996
516
+ ],
517
+ "type": "go straight",
518
+ "value": 3,
519
+ "yaw": 0.0
520
+ }
521
+ }
522
+ {
523
+ "action": {
524
+ "imageid": 40,
525
+ "pos": [
526
+ 94.36716537825963,
527
+ 305.06583242669154,
528
+ -8.966380601943996
529
+ ],
530
+ "type": "go straight",
531
+ "value": 3,
532
+ "yaw": 0.0
533
+ }
534
+ }
535
+ {
536
+ "action": {
537
+ "imageid": 41,
538
+ "pos": [
539
+ 97.36716537825963,
540
+ 305.06583242669154,
541
+ -8.966380601943996
542
+ ],
543
+ "type": "go straight",
544
+ "value": 3,
545
+ "yaw": 0.0
546
+ }
547
+ }
548
+ {
549
+ "action": {
550
+ "imageid": 42,
551
+ "pos": [
552
+ 100.36716537825963,
553
+ 305.06583242669154,
554
+ -8.966380601943996
555
+ ],
556
+ "type": "go straight",
557
+ "value": 3,
558
+ "yaw": 0.0
559
+ }
560
+ }
561
+ {
562
+ "action": {
563
+ "imageid": 43,
564
+ "pos": [
565
+ 103.36716537825963,
566
+ 305.06583242669154,
567
+ -8.966380601943996
568
+ ],
569
+ "type": "go straight",
570
+ "value": 3,
571
+ "yaw": 0.0
572
+ }
573
+ }
574
+ {
575
+ "action": {
576
+ "imageid": 44,
577
+ "pos": [
578
+ 106.36716537825963,
579
+ 305.06583242669154,
580
+ -8.966380601943996
581
+ ],
582
+ "type": "go straight",
583
+ "value": 3,
584
+ "yaw": 0.0
585
+ }
586
+ }
587
+ {
588
+ "action": {
589
+ "imageid": 45,
590
+ "pos": [
591
+ 109.36716537825963,
592
+ 305.06583242669154,
593
+ -8.966380601943996
594
+ ],
595
+ "type": "go straight",
596
+ "value": 3,
597
+ "yaw": 0.0
598
+ }
599
+ }
600
+ {
601
+ "action": {
602
+ "imageid": 46,
603
+ "pos": [
604
+ 112.36716537825963,
605
+ 305.06583242669154,
606
+ -8.966380601943996
607
+ ],
608
+ "type": "turn right",
609
+ "value": 30,
610
+ "yaw": 0.0
611
+ }
612
+ }
613
+ {
614
+ "action": {
615
+ "imageid": 47,
616
+ "pos": [
617
+ 112.36716537825963,
618
+ 305.06583242669154,
619
+ -8.966380601943996
620
+ ],
621
+ "type": "go straight",
622
+ "value": 3,
623
+ "yaw": -0.5235987755982988
624
+ }
625
+ }
626
+ {
627
+ "action": {
628
+ "imageid": 48,
629
+ "pos": [
630
+ 114.96524158961294,
631
+ 303.56583242669154,
632
+ -8.966380601943996
633
+ ],
634
+ "type": "go straight",
635
+ "value": 3,
636
+ "yaw": -0.5235987755982988
637
+ }
638
+ }
639
+ {
640
+ "action": {
641
+ "imageid": 49,
642
+ "pos": [
643
+ 117.56331780096626,
644
+ 302.06583242669154,
645
+ -8.966380601943996
646
+ ],
647
+ "type": "go straight",
648
+ "value": 3,
649
+ "yaw": -0.5235987755982988
650
+ }
651
+ }
652
+ {
653
+ "action": {
654
+ "imageid": 50,
655
+ "pos": [
656
+ 120.16139401231958,
657
+ 300.56583242669154,
658
+ -8.966380601943996
659
+ ],
660
+ "type": "go straight",
661
+ "value": 3,
662
+ "yaw": -0.5235987755982988
663
+ }
664
+ }
665
+ {
666
+ "action": {
667
+ "imageid": 51,
668
+ "pos": [
669
+ 122.75947022367289,
670
+ 299.06583242669154,
671
+ -8.966380601943996
672
+ ],
673
+ "type": "go straight",
674
+ "value": 3,
675
+ "yaw": -0.5235987755982988
676
+ }
677
+ }
678
+ {
679
+ "action": {
680
+ "imageid": 52,
681
+ "pos": [
682
+ 125.35754643502621,
683
+ 297.56583242669154,
684
+ -8.966380601943996
685
+ ],
686
+ "type": "go straight",
687
+ "value": 3,
688
+ "yaw": -0.5235987755982988
689
+ }
690
+ }
691
+ {
692
+ "action": {
693
+ "imageid": 53,
694
+ "pos": [
695
+ 127.95562264637952,
696
+ 296.06583242669154,
697
+ -8.966380601943996
698
+ ],
699
+ "type": "go straight",
700
+ "value": 3,
701
+ "yaw": -0.5235987755982988
702
+ }
703
+ }
704
+ {
705
+ "action": {
706
+ "imageid": 54,
707
+ "pos": [
708
+ 130.55369885773285,
709
+ 294.56583242669154,
710
+ -8.966380601943996
711
+ ],
712
+ "type": "go straight",
713
+ "value": 3,
714
+ "yaw": -0.5235987755982965
715
+ }
716
+ }
717
+ {
718
+ "action": {
719
+ "imageid": 55,
720
+ "pos": [
721
+ 133.15177506908617,
722
+ 293.06583242669154,
723
+ -8.966380601943996
724
+ ],
725
+ "type": "go straight",
726
+ "value": 3,
727
+ "yaw": -0.5235987755982988
728
+ }
729
+ }
730
+ {
731
+ "action": {
732
+ "imageid": 56,
733
+ "pos": [
734
+ 135.7498512804395,
735
+ 291.56583242669154,
736
+ -8.966380601943996
737
+ ],
738
+ "type": "go straight",
739
+ "value": 3,
740
+ "yaw": -0.5235987755982988
741
+ }
742
+ }
743
+ {
744
+ "action": {
745
+ "imageid": 57,
746
+ "pos": [
747
+ 138.3479274917928,
748
+ 290.06583242669154,
749
+ -8.966380601943996
750
+ ],
751
+ "type": "go straight",
752
+ "value": 3,
753
+ "yaw": -0.5235987755982988
754
+ }
755
+ }
756
+ {
757
+ "action": {
758
+ "imageid": 58,
759
+ "pos": [
760
+ 140.94600370314612,
761
+ 288.56583242669154,
762
+ -8.966380601943996
763
+ ],
764
+ "type": "go straight",
765
+ "value": 3,
766
+ "yaw": -0.5235987755982988
767
+ }
768
+ }
769
+ {
770
+ "action": {
771
+ "imageid": 59,
772
+ "pos": [
773
+ 143.54407991449943,
774
+ 287.06583242669154,
775
+ -8.966380601943996
776
+ ],
777
+ "type": "stop",
778
+ "value": 0,
779
+ "yaw": -0.5235987755982988
780
+ }
781
+ }
782
+ {
783
+ "aim_landmark": {
784
+ "color": "test",
785
+ "feature": "test",
786
+ "position": [
787
+ 144.2937671661377,
788
+ 286.0436576843262,
789
+ 0.0
790
+ ],
791
+ "shape": "test",
792
+ "size": "test",
793
+ "type": "building"
794
+ }
795
+ }
Image/env_gs_nwpu01/astar_data/long/2025-1-13_13-56-46_1369133069/pose.jsonl ADDED
@@ -0,0 +1,691 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -162.6663576297551,
6
+ 202.9525705691149,
7
+ -23.68290784458145
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -0.5235987755982988
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -160.0682814184018,
19
+ 201.4525705691149,
20
+ -23.68290784458145
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -0.5235987755982988
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -157.47020520704848,
32
+ 199.9525705691149,
33
+ -23.68290784458145
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -0.5235987755982988
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -154.87212899569516,
45
+ 198.4525705691149,
46
+ -23.68290784458145
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -0.5235987755982988
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -152.27405278434185,
58
+ 196.9525705691149,
59
+ -23.68290784458145
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -0.5235987755982988
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -149.67597657298853,
71
+ 195.4525705691149,
72
+ -23.68290784458145
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -0.5235987755982988
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -147.07790036163522,
84
+ 193.9525705691149,
85
+ -23.68290784458145
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -0.5235987755982988
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -144.4798241502819,
97
+ 192.4525705691149,
98
+ -23.68290784458145
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -0.5235987755982988
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -141.88174793892858,
110
+ 190.9525705691149,
111
+ -23.68290784458145
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -0.5235987755982988
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -139.28367172757527,
123
+ 189.4525705691149,
124
+ -23.68290784458145
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -0.5235987755982988
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -136.68559551622195,
136
+ 187.9525705691149,
137
+ -23.68290784458145
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -0.5235987755982988
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -134.08751930486864,
149
+ 186.4525705691149,
150
+ -23.68290784458145
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -0.5235987755982988
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -131.48944309351532,
162
+ 184.9525705691149,
163
+ -23.68290784458145
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -0.5235987755982988
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -128.891366882162,
175
+ 183.4525705691149,
176
+ -23.68290784458145
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -0.5235987755982988
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -126.29329067080869,
188
+ 181.9525705691149,
189
+ -23.68290784458145
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -0.5235987755982988
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -123.69521445945537,
201
+ 180.4525705691149,
202
+ -23.68290784458145
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -0.5235987755982988
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -121.09713824810206,
214
+ 178.9525705691149,
215
+ -23.68290784458145
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -0.5235987755982988
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -118.49906203674874,
227
+ 177.4525705691149,
228
+ -23.68290784458145
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -0.5235987755982988
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -115.90098582539542,
240
+ 175.9525705691149,
241
+ -23.68290784458145
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -0.5235987755982988
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -113.30290961404211,
253
+ 174.4525705691149,
254
+ -23.68290784458145
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -0.5235987755982988
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -110.70483340268879,
266
+ 172.9525705691149,
267
+ -23.68290784458145
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -0.5235987755982988
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -108.10675719133548,
279
+ 171.4525705691149,
280
+ -23.68290784458145
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -0.5235987755982988
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -105.50868097998216,
292
+ 169.9525705691149,
293
+ -23.68290784458145
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -0.5235987755982988
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -102.91060476862884,
305
+ 168.4525705691149,
306
+ -23.68290784458145
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": -0.5235987755982988
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
+ -100.31252855727553,
332
+ 166.9525705691149,
333
+ -23.68290784458145
334
+ ],
335
+ "type": "turn left",
336
+ "value": 30,
337
+ "yaw": -0.5235987755982988
338
+ }
339
+ }
340
+ {
341
+ "action": {
342
+ "imageid": 26,
343
+ "pos": [
344
+ -100.31252855727553,
345
+ 166.9525705691149,
346
+ -23.68290784458145
347
+ ],
348
+ "type": "turn left",
349
+ "value": 30,
350
+ "yaw": 0.0
351
+ }
352
+ }
353
+ {
354
+ "action": {
355
+ "imageid": 27,
356
+ "pos": [
357
+ -100.31252855727553,
358
+ 166.9525705691149,
359
+ -23.68290784458145
360
+ ],
361
+ "type": "turn left",
362
+ "value": 30,
363
+ "yaw": 0.5235987755982988
364
+ }
365
+ }
366
+ {
367
+ "action": {
368
+ "imageid": 28,
369
+ "pos": [
370
+ -100.31252855727553,
371
+ 166.9525705691149,
372
+ -23.68290784458145
373
+ ],
374
+ "type": "turn left",
375
+ "value": 30,
376
+ "yaw": 1.0471975511965979
377
+ }
378
+ }
379
+ {
380
+ "action": {
381
+ "imageid": 29,
382
+ "pos": [
383
+ -100.31252855727553,
384
+ 166.9525705691149,
385
+ -23.68290784458145
386
+ ],
387
+ "type": "go straight",
388
+ "value": 3,
389
+ "yaw": 1.0471975511965979
390
+ }
391
+ }
392
+ {
393
+ "action": {
394
+ "imageid": 30,
395
+ "pos": [
396
+ -98.81252855727553,
397
+ 169.5506467804682,
398
+ -23.68290784458145
399
+ ],
400
+ "type": "go straight",
401
+ "value": 3,
402
+ "yaw": 1.0471975511965979
403
+ }
404
+ }
405
+ {
406
+ "action": {
407
+ "imageid": 31,
408
+ "pos": [
409
+ -97.31252855727553,
410
+ 172.14872299182153,
411
+ -23.68290784458145
412
+ ],
413
+ "type": "go straight",
414
+ "value": 3,
415
+ "yaw": 1.0471975511965979
416
+ }
417
+ }
418
+ {
419
+ "action": {
420
+ "imageid": 32,
421
+ "pos": [
422
+ -95.81252855727553,
423
+ 174.74679920317485,
424
+ -23.68290784458145
425
+ ],
426
+ "type": "go straight",
427
+ "value": 3,
428
+ "yaw": 1.0471975511965979
429
+ }
430
+ }
431
+ {
432
+ "action": {
433
+ "imageid": 33,
434
+ "pos": [
435
+ -94.31252855727553,
436
+ 177.34487541452816,
437
+ -23.68290784458145
438
+ ],
439
+ "type": "go straight",
440
+ "value": 3,
441
+ "yaw": 1.0471975511965979
442
+ }
443
+ }
444
+ {
445
+ "action": {
446
+ "imageid": 34,
447
+ "pos": [
448
+ -92.81252855727553,
449
+ 179.94295162588148,
450
+ -23.68290784458145
451
+ ],
452
+ "type": "go straight",
453
+ "value": 3,
454
+ "yaw": 1.0471975511965979
455
+ }
456
+ }
457
+ {
458
+ "action": {
459
+ "imageid": 35,
460
+ "pos": [
461
+ -91.31252855727553,
462
+ 182.5410278372348,
463
+ -23.68290784458145
464
+ ],
465
+ "type": "go straight",
466
+ "value": 3,
467
+ "yaw": 1.0471975511965979
468
+ }
469
+ }
470
+ {
471
+ "action": {
472
+ "imageid": 36,
473
+ "pos": [
474
+ -89.81252855727553,
475
+ 185.1391040485881,
476
+ -23.68290784458145
477
+ ],
478
+ "type": "go straight",
479
+ "value": 3,
480
+ "yaw": 1.0471975511965979
481
+ }
482
+ }
483
+ {
484
+ "action": {
485
+ "imageid": 37,
486
+ "pos": [
487
+ -88.31252855727553,
488
+ 187.73718025994143,
489
+ -23.68290784458145
490
+ ],
491
+ "type": "go straight",
492
+ "value": 3,
493
+ "yaw": 1.0471975511965979
494
+ }
495
+ }
496
+ {
497
+ "action": {
498
+ "imageid": 38,
499
+ "pos": [
500
+ -86.81252855727553,
501
+ 190.33525647129474,
502
+ -23.68290784458145
503
+ ],
504
+ "type": "go straight",
505
+ "value": 3,
506
+ "yaw": 1.0471975511965979
507
+ }
508
+ }
509
+ {
510
+ "action": {
511
+ "imageid": 39,
512
+ "pos": [
513
+ -85.31252855727553,
514
+ 192.93333268264806,
515
+ -23.68290784458145
516
+ ],
517
+ "type": "go straight",
518
+ "value": 3,
519
+ "yaw": 1.0471975511965979
520
+ }
521
+ }
522
+ {
523
+ "action": {
524
+ "imageid": 40,
525
+ "pos": [
526
+ -83.81252855727553,
527
+ 195.53140889400137,
528
+ -23.68290784458145
529
+ ],
530
+ "type": "go straight",
531
+ "value": 3,
532
+ "yaw": 1.0471975511965979
533
+ }
534
+ }
535
+ {
536
+ "action": {
537
+ "imageid": 41,
538
+ "pos": [
539
+ -82.31252855727553,
540
+ 198.1294851053547,
541
+ -23.68290784458145
542
+ ],
543
+ "type": "go straight",
544
+ "value": 3,
545
+ "yaw": 1.0471975511965979
546
+ }
547
+ }
548
+ {
549
+ "action": {
550
+ "imageid": 42,
551
+ "pos": [
552
+ -80.81252855727553,
553
+ 200.727561316708,
554
+ -23.68290784458145
555
+ ],
556
+ "type": "turn left",
557
+ "value": 30,
558
+ "yaw": 1.0471975511965979
559
+ }
560
+ }
561
+ {
562
+ "action": {
563
+ "imageid": 43,
564
+ "pos": [
565
+ -80.81252855727553,
566
+ 200.727561316708,
567
+ -23.68290784458145
568
+ ],
569
+ "type": "go straight",
570
+ "value": 3,
571
+ "yaw": 1.5707963267948966
572
+ }
573
+ }
574
+ {
575
+ "action": {
576
+ "imageid": 44,
577
+ "pos": [
578
+ -80.81252855727553,
579
+ 203.727561316708,
580
+ -23.68290784458145
581
+ ],
582
+ "type": "go straight",
583
+ "value": 3,
584
+ "yaw": 1.5707963267948966
585
+ }
586
+ }
587
+ {
588
+ "action": {
589
+ "imageid": 45,
590
+ "pos": [
591
+ -80.81252855727553,
592
+ 206.727561316708,
593
+ -23.68290784458145
594
+ ],
595
+ "type": "go straight",
596
+ "value": 3,
597
+ "yaw": 1.5707963267948966
598
+ }
599
+ }
600
+ {
601
+ "action": {
602
+ "imageid": 46,
603
+ "pos": [
604
+ -80.81252855727553,
605
+ 209.727561316708,
606
+ -23.68290784458145
607
+ ],
608
+ "type": "go straight",
609
+ "value": 3,
610
+ "yaw": 1.5707963267948966
611
+ }
612
+ }
613
+ {
614
+ "action": {
615
+ "imageid": 47,
616
+ "pos": [
617
+ -80.81252855727553,
618
+ 212.727561316708,
619
+ -23.68290784458145
620
+ ],
621
+ "type": "go straight",
622
+ "value": 3,
623
+ "yaw": 1.5707963267948966
624
+ }
625
+ }
626
+ {
627
+ "action": {
628
+ "imageid": 48,
629
+ "pos": [
630
+ -80.81252855727553,
631
+ 215.727561316708,
632
+ -23.68290784458145
633
+ ],
634
+ "type": "go straight",
635
+ "value": 3,
636
+ "yaw": 1.5707963267948966
637
+ }
638
+ }
639
+ {
640
+ "action": {
641
+ "imageid": 49,
642
+ "pos": [
643
+ -80.81252855727553,
644
+ 218.727561316708,
645
+ -23.68290784458145
646
+ ],
647
+ "type": "turn right",
648
+ "value": 30,
649
+ "yaw": 1.5707963267948966
650
+ }
651
+ }
652
+ {
653
+ "action": {
654
+ "imageid": 50,
655
+ "pos": [
656
+ -80.81252855727553,
657
+ 218.727561316708,
658
+ -23.68290784458145
659
+ ],
660
+ "type": "go straight",
661
+ "value": 3,
662
+ "yaw": 1.0471975511965979
663
+ }
664
+ }
665
+ {
666
+ "action": {
667
+ "imageid": 51,
668
+ "pos": [
669
+ -79.31252855727553,
670
+ 221.32563752806132,
671
+ -23.68290784458145
672
+ ],
673
+ "type": "stop",
674
+ "value": 0,
675
+ "yaw": 1.0471975511965979
676
+ }
677
+ }
678
+ {
679
+ "aim_landmark": {
680
+ "color": "test",
681
+ "feature": "test",
682
+ "position": [
683
+ -78.11547446250916,
684
+ 225.18597507476807,
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_14-17-41_945117276/pose.jsonl ADDED
@@ -0,0 +1,743 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 69.26333733936305,
6
+ 166.5703064507842,
7
+ -18.98447166265744
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -1.5707963267948966
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 69.26333733936305,
19
+ 163.5703064507842,
20
+ -18.98447166265744
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -1.5707963267948966
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 69.26333733936305,
32
+ 160.5703064507842,
33
+ -18.98447166265744
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -1.5707963267948966
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 69.26333733936305,
45
+ 157.5703064507842,
46
+ -18.98447166265744
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -1.5707963267948966
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 69.26333733936305,
58
+ 154.5703064507842,
59
+ -18.98447166265744
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -1.5707963267948966
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 69.26333733936305,
71
+ 151.5703064507842,
72
+ -18.98447166265744
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -1.5707963267948966
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 69.26333733936305,
84
+ 148.5703064507842,
85
+ -18.98447166265744
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -1.5707963267948966
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 69.26333733936305,
97
+ 145.5703064507842,
98
+ -18.98447166265744
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -1.5707963267948966
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 69.26333733936305,
110
+ 142.5703064507842,
111
+ -18.98447166265744
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -1.5707963267948966
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 69.26333733936305,
123
+ 139.5703064507842,
124
+ -18.98447166265744
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -1.5707963267948966
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 69.26333733936305,
136
+ 136.5703064507842,
137
+ -18.98447166265744
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -1.5707963267948966
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 69.26333733936305,
149
+ 133.5703064507842,
150
+ -18.98447166265744
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -1.5707963267948966
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 69.26333733936305,
162
+ 130.5703064507842,
163
+ -18.98447166265744
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -1.5707963267948966
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 69.26333733936305,
175
+ 127.57030645078419,
176
+ -18.98447166265744
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -1.5707963267948966
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 69.26333733936305,
188
+ 124.57030645078419,
189
+ -18.98447166265744
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -1.5707963267948966
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 69.26333733936305,
201
+ 121.57030645078419,
202
+ -18.98447166265744
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -1.5707963267948966
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 69.26333733936305,
214
+ 118.57030645078419,
215
+ -18.98447166265744
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -1.5707963267948966
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 69.26333733936305,
227
+ 115.57030645078419,
228
+ -18.98447166265744
229
+ ],
230
+ "type": "turn right",
231
+ "value": 30,
232
+ "yaw": -1.5707963267948966
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 69.26333733936305,
240
+ 115.57030645078419,
241
+ -18.98447166265744
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -2.0943951023931953
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 67.76333733936305,
253
+ 112.97223023943087,
254
+ -18.98447166265744
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -2.0943951023931953
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 66.26333733936305,
266
+ 110.37415402807756,
267
+ -18.98447166265744
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -2.0943951023931953
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 64.76333733936305,
279
+ 107.77607781672424,
280
+ -18.98447166265744
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -2.0943951023931953
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 63.26333733936305,
292
+ 105.17800160537092,
293
+ -18.98447166265744
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -2.0943951023931953
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 61.76333733936305,
305
+ 102.57992539401761,
306
+ -18.98447166265744
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
+ 61.79868612289429,
319
+ 98.42731351852417,
320
+ 0.0
321
+ ],
322
+ "shape": "test",
323
+ "size": "test",
324
+ "type": "building"
325
+ }
326
+ }
327
+ {
328
+ "action": {
329
+ "imageid": 25,
330
+ "pos": [
331
+ 60.26333733936305,
332
+ 99.98184918266429,
333
+ -18.98447166265744
334
+ ],
335
+ "type": "turn left",
336
+ "value": 30,
337
+ "yaw": -2.0943951023931953
338
+ }
339
+ }
340
+ {
341
+ "action": {
342
+ "imageid": 26,
343
+ "pos": [
344
+ 60.26333733936305,
345
+ 99.98184918266429,
346
+ -18.98447166265744
347
+ ],
348
+ "type": "turn left",
349
+ "value": 30,
350
+ "yaw": -1.5707963267948966
351
+ }
352
+ }
353
+ {
354
+ "action": {
355
+ "imageid": 27,
356
+ "pos": [
357
+ 60.26333733936305,
358
+ 99.98184918266429,
359
+ -18.98447166265744
360
+ ],
361
+ "type": "turn left",
362
+ "value": 30,
363
+ "yaw": -1.0471975511965976
364
+ }
365
+ }
366
+ {
367
+ "action": {
368
+ "imageid": 28,
369
+ "pos": [
370
+ 60.26333733936305,
371
+ 99.98184918266429,
372
+ -18.98447166265744
373
+ ],
374
+ "type": "turn left",
375
+ "value": 30,
376
+ "yaw": -0.5235987755982987
377
+ }
378
+ }
379
+ {
380
+ "action": {
381
+ "imageid": 29,
382
+ "pos": [
383
+ 60.26333733936305,
384
+ 99.98184918266429,
385
+ -18.98447166265744
386
+ ],
387
+ "type": "turn left",
388
+ "value": 30,
389
+ "yaw": 0.0
390
+ }
391
+ }
392
+ {
393
+ "action": {
394
+ "imageid": 30,
395
+ "pos": [
396
+ 60.26333733936305,
397
+ 99.98184918266429,
398
+ -18.98447166265744
399
+ ],
400
+ "type": "turn left",
401
+ "value": 30,
402
+ "yaw": 0.5235987755982987
403
+ }
404
+ }
405
+ {
406
+ "action": {
407
+ "imageid": 31,
408
+ "pos": [
409
+ 60.26333733936305,
410
+ 99.98184918266429,
411
+ -18.98447166265744
412
+ ],
413
+ "type": "go straight",
414
+ "value": 3,
415
+ "yaw": 0.5235987755982988
416
+ }
417
+ }
418
+ {
419
+ "action": {
420
+ "imageid": 32,
421
+ "pos": [
422
+ 62.861413550716364,
423
+ 101.48184918266429,
424
+ -18.98447166265744
425
+ ],
426
+ "type": "go straight",
427
+ "value": 3,
428
+ "yaw": 0.5235987755982988
429
+ }
430
+ }
431
+ {
432
+ "action": {
433
+ "imageid": 33,
434
+ "pos": [
435
+ 65.45948976206968,
436
+ 102.98184918266429,
437
+ -18.98447166265744
438
+ ],
439
+ "type": "go straight",
440
+ "value": 3,
441
+ "yaw": 0.5235987755982988
442
+ }
443
+ }
444
+ {
445
+ "action": {
446
+ "imageid": 34,
447
+ "pos": [
448
+ 68.057565973423,
449
+ 104.48184918266429,
450
+ -18.98447166265744
451
+ ],
452
+ "type": "go straight",
453
+ "value": 3,
454
+ "yaw": 0.5235987755982988
455
+ }
456
+ }
457
+ {
458
+ "action": {
459
+ "imageid": 35,
460
+ "pos": [
461
+ 70.65564218477631,
462
+ 105.98184918266429,
463
+ -18.98447166265744
464
+ ],
465
+ "type": "go straight",
466
+ "value": 3,
467
+ "yaw": 0.5235987755982988
468
+ }
469
+ }
470
+ {
471
+ "action": {
472
+ "imageid": 36,
473
+ "pos": [
474
+ 73.25371839612963,
475
+ 107.48184918266429,
476
+ -18.98447166265744
477
+ ],
478
+ "type": "go straight",
479
+ "value": 3,
480
+ "yaw": 0.5235987755982988
481
+ }
482
+ }
483
+ {
484
+ "action": {
485
+ "imageid": 37,
486
+ "pos": [
487
+ 75.85179460748294,
488
+ 108.98184918266429,
489
+ -18.98447166265744
490
+ ],
491
+ "type": "go straight",
492
+ "value": 3,
493
+ "yaw": 0.5235987755982988
494
+ }
495
+ }
496
+ {
497
+ "action": {
498
+ "imageid": 38,
499
+ "pos": [
500
+ 78.44987081883626,
501
+ 110.48184918266429,
502
+ -18.98447166265744
503
+ ],
504
+ "type": "go straight",
505
+ "value": 3,
506
+ "yaw": 0.5235987755982988
507
+ }
508
+ }
509
+ {
510
+ "action": {
511
+ "imageid": 39,
512
+ "pos": [
513
+ 81.04794703018958,
514
+ 111.98184918266429,
515
+ -18.98447166265744
516
+ ],
517
+ "type": "go straight",
518
+ "value": 3,
519
+ "yaw": 0.5235987755982988
520
+ }
521
+ }
522
+ {
523
+ "action": {
524
+ "imageid": 40,
525
+ "pos": [
526
+ 83.64602324154289,
527
+ 113.48184918266429,
528
+ -18.98447166265744
529
+ ],
530
+ "type": "go straight",
531
+ "value": 3,
532
+ "yaw": 0.5235987755982988
533
+ }
534
+ }
535
+ {
536
+ "action": {
537
+ "imageid": 41,
538
+ "pos": [
539
+ 86.24409945289621,
540
+ 114.98184918266429,
541
+ -18.98447166265744
542
+ ],
543
+ "type": "go straight",
544
+ "value": 3,
545
+ "yaw": 0.5235987755982988
546
+ }
547
+ }
548
+ {
549
+ "action": {
550
+ "imageid": 42,
551
+ "pos": [
552
+ 88.84217566424952,
553
+ 116.48184918266429,
554
+ -18.98447166265744
555
+ ],
556
+ "type": "go straight",
557
+ "value": 3,
558
+ "yaw": 0.5235987755982988
559
+ }
560
+ }
561
+ {
562
+ "action": {
563
+ "imageid": 43,
564
+ "pos": [
565
+ 91.44025187560284,
566
+ 117.98184918266429,
567
+ -18.98447166265744
568
+ ],
569
+ "type": "go straight",
570
+ "value": 3,
571
+ "yaw": 0.5235987755982988
572
+ }
573
+ }
574
+ {
575
+ "action": {
576
+ "imageid": 44,
577
+ "pos": [
578
+ 94.03832808695616,
579
+ 119.48184918266429,
580
+ -18.98447166265744
581
+ ],
582
+ "type": "go straight",
583
+ "value": 3,
584
+ "yaw": 0.5235987755982988
585
+ }
586
+ }
587
+ {
588
+ "action": {
589
+ "imageid": 45,
590
+ "pos": [
591
+ 96.63640429830947,
592
+ 120.98184918266429,
593
+ -18.98447166265744
594
+ ],
595
+ "type": "go straight",
596
+ "value": 3,
597
+ "yaw": 0.5235987755982988
598
+ }
599
+ }
600
+ {
601
+ "action": {
602
+ "imageid": 46,
603
+ "pos": [
604
+ 99.23448050966279,
605
+ 122.48184918266429,
606
+ -18.98447166265744
607
+ ],
608
+ "type": "go straight",
609
+ "value": 3,
610
+ "yaw": 0.5235987755982988
611
+ }
612
+ }
613
+ {
614
+ "action": {
615
+ "imageid": 47,
616
+ "pos": [
617
+ 101.8325567210161,
618
+ 123.98184918266429,
619
+ -18.98447166265744
620
+ ],
621
+ "type": "go straight",
622
+ "value": 3,
623
+ "yaw": 0.5235987755982988
624
+ }
625
+ }
626
+ {
627
+ "action": {
628
+ "imageid": 48,
629
+ "pos": [
630
+ 104.43063293236942,
631
+ 125.48184918266429,
632
+ -18.98447166265744
633
+ ],
634
+ "type": "go straight",
635
+ "value": 3,
636
+ "yaw": 0.5235987755982988
637
+ }
638
+ }
639
+ {
640
+ "action": {
641
+ "imageid": 49,
642
+ "pos": [
643
+ 107.02870914372274,
644
+ 126.98184918266429,
645
+ -18.98447166265744
646
+ ],
647
+ "type": "go straight",
648
+ "value": 3,
649
+ "yaw": 0.5235987755982988
650
+ }
651
+ }
652
+ {
653
+ "action": {
654
+ "imageid": 50,
655
+ "pos": [
656
+ 109.62678535507605,
657
+ 128.4818491826643,
658
+ -18.98447166265744
659
+ ],
660
+ "type": "go straight",
661
+ "value": 3,
662
+ "yaw": 0.5235987755982988
663
+ }
664
+ }
665
+ {
666
+ "action": {
667
+ "imageid": 51,
668
+ "pos": [
669
+ 112.22486156642937,
670
+ 129.9818491826643,
671
+ -18.98447166265744
672
+ ],
673
+ "type": "go straight",
674
+ "value": 3,
675
+ "yaw": 0.5235987755982988
676
+ }
677
+ }
678
+ {
679
+ "action": {
680
+ "imageid": 52,
681
+ "pos": [
682
+ 114.82293777778268,
683
+ 131.4818491826643,
684
+ -18.98447166265744
685
+ ],
686
+ "type": "go straight",
687
+ "value": 3,
688
+ "yaw": 0.5235987755982988
689
+ }
690
+ }
691
+ {
692
+ "action": {
693
+ "imageid": 53,
694
+ "pos": [
695
+ 117.421013989136,
696
+ 132.9818491826643,
697
+ -18.98447166265744
698
+ ],
699
+ "type": "go straight",
700
+ "value": 3,
701
+ "yaw": 0.5235987755982988
702
+ }
703
+ }
704
+ {
705
+ "action": {
706
+ "imageid": 54,
707
+ "pos": [
708
+ 120.01909020048932,
709
+ 134.4818491826643,
710
+ -18.98447166265744
711
+ ],
712
+ "type": "go straight",
713
+ "value": 3,
714
+ "yaw": 0.5235987755982988
715
+ }
716
+ }
717
+ {
718
+ "action": {
719
+ "imageid": 55,
720
+ "pos": [
721
+ 122.61716641184263,
722
+ 135.9818491826643,
723
+ -18.98447166265744
724
+ ],
725
+ "type": "stop",
726
+ "value": 0,
727
+ "yaw": 0.5235987755982988
728
+ }
729
+ }
730
+ {
731
+ "aim_landmark": {
732
+ "color": "test",
733
+ "feature": "test",
734
+ "position": [
735
+ 126.12591409683228,
736
+ 137.03480195999146,
737
+ 0.0
738
+ ],
739
+ "shape": "test",
740
+ "size": "test",
741
+ "type": "building"
742
+ }
743
+ }
Image/env_gs_nwpu01/astar_data/long/2025-1-13_14-18-37_1780695788/pose.jsonl ADDED
@@ -0,0 +1,717 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 88.49380949575101,
6
+ -40.47866490011232,
7
+ -16.005551828149713
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 2.6179938779914944
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 85.89573328439769,
19
+ -38.97866490011232,
20
+ -16.005551828149713
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 2.6179938779914944
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 83.29765707304438,
32
+ -37.47866490011232,
33
+ -16.005551828149713
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 2.6179938779914944
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 80.69958086169106,
45
+ -35.97866490011232,
46
+ -16.005551828149713
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 2.6179938779914944
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 78.10150465033774,
58
+ -34.47866490011232,
59
+ -16.005551828149713
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 2.6179938779914944
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 75.50342843898443,
71
+ -32.97866490011232,
72
+ -16.005551828149713
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 2.6179938779914944
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 72.90535222763111,
84
+ -31.47866490011232,
85
+ -16.005551828149713
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 2.6179938779914944
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 70.3072760162778,
97
+ -29.97866490011232,
98
+ -16.005551828149713
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 2.6179938779914944
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 67.70919980492448,
110
+ -28.47866490011232,
111
+ -16.005551828149713
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 2.6179938779914944
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 65.11112359357116,
123
+ -26.97866490011232,
124
+ -16.005551828149713
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 2.6179938779914944
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 62.51304738221785,
136
+ -25.47866490011232,
137
+ -16.005551828149713
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 2.6179938779914944
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 59.91497117086453,
149
+ -23.97866490011232,
150
+ -16.005551828149713
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 2.6179938779914944
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 57.31689495951122,
162
+ -22.47866490011232,
163
+ -16.005551828149713
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 2.6179938779914944
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 54.7188187481579,
175
+ -20.97866490011232,
176
+ -16.005551828149713
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 2.6179938779914944
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 52.120742536804585,
188
+ -19.47866490011232,
189
+ -16.005551828149713
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 2.6179938779914944
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 49.52266632545127,
201
+ -17.97866490011232,
202
+ -16.005551828149713
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 2.6179938779914944
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 46.92459011409795,
214
+ -16.47866490011232,
215
+ -16.005551828149713
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 2.6179938779914944
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 44.32651390274464,
227
+ -14.97866490011232,
228
+ -16.005551828149713
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 2.6179938779914944
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 41.72843769139132,
240
+ -13.47866490011232,
241
+ -16.005551828149713
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 2.6179938779914944
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 39.130361480038005,
253
+ -11.97866490011232,
254
+ -16.005551828149713
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 2.6179938779914944
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 36.53228526868469,
266
+ -10.47866490011232,
267
+ -16.005551828149713
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 2.6179938779914944
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 33.93420905733137,
279
+ -8.97866490011232,
280
+ -16.005551828149713
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 2.6179938779914944
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 31.336132845978057,
292
+ -7.478664900112321,
293
+ -16.005551828149713
294
+ ],
295
+ "type": "turn left",
296
+ "value": 30,
297
+ "yaw": 2.6179938779914944
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 31.336132845978057,
305
+ -7.478664900112321,
306
+ -16.005551828149713
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": 3.141592653589793
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ 28.336132845978057,
318
+ -7.478664900112321,
319
+ -16.005551828149713
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": 3.141592653589793
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ 25.336132845978057,
331
+ -7.478664900112321,
332
+ -16.005551828149713
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": 3.141592653589793
337
+ }
338
+ }
339
+ {
340
+ "aim_landmark": {
341
+ "color": "test",
342
+ "feature": "test",
343
+ "position": [
344
+ 20.778573703765872,
345
+ -6.891405725479126,
346
+ 0.0
347
+ ],
348
+ "shape": "test",
349
+ "size": "test",
350
+ "type": "building"
351
+ }
352
+ }
353
+ {
354
+ "action": {
355
+ "imageid": 27,
356
+ "pos": [
357
+ 22.336132845978057,
358
+ -7.478664900112321,
359
+ -16.005551828149713
360
+ ],
361
+ "type": "turn right",
362
+ "value": 30,
363
+ "yaw": 3.141592653589793
364
+ }
365
+ }
366
+ {
367
+ "action": {
368
+ "imageid": 28,
369
+ "pos": [
370
+ 22.336132845978057,
371
+ -7.478664900112321,
372
+ -16.005551828149713
373
+ ],
374
+ "type": "turn right",
375
+ "value": 30,
376
+ "yaw": 2.6179938779914944
377
+ }
378
+ }
379
+ {
380
+ "action": {
381
+ "imageid": 29,
382
+ "pos": [
383
+ 22.336132845978057,
384
+ -7.478664900112321,
385
+ -16.005551828149713
386
+ ],
387
+ "type": "turn right",
388
+ "value": 30,
389
+ "yaw": 2.0943951023931957
390
+ }
391
+ }
392
+ {
393
+ "action": {
394
+ "imageid": 30,
395
+ "pos": [
396
+ 22.336132845978057,
397
+ -7.478664900112321,
398
+ -16.005551828149713
399
+ ],
400
+ "type": "turn right",
401
+ "value": 30,
402
+ "yaw": 1.5707963267948966
403
+ }
404
+ }
405
+ {
406
+ "action": {
407
+ "imageid": 31,
408
+ "pos": [
409
+ 22.336132845978057,
410
+ -7.478664900112321,
411
+ -16.005551828149713
412
+ ],
413
+ "type": "turn right",
414
+ "value": 30,
415
+ "yaw": 1.0471975511965979
416
+ }
417
+ }
418
+ {
419
+ "action": {
420
+ "imageid": 32,
421
+ "pos": [
422
+ 22.336132845978057,
423
+ -7.478664900112321,
424
+ -16.005551828149713
425
+ ],
426
+ "type": "go straight",
427
+ "value": 3,
428
+ "yaw": 1.0471975511965979
429
+ }
430
+ }
431
+ {
432
+ "action": {
433
+ "imageid": 33,
434
+ "pos": [
435
+ 23.836132845978057,
436
+ -4.880588688759005,
437
+ -16.005551828149713
438
+ ],
439
+ "type": "go straight",
440
+ "value": 3,
441
+ "yaw": 1.0471975511965979
442
+ }
443
+ }
444
+ {
445
+ "action": {
446
+ "imageid": 34,
447
+ "pos": [
448
+ 25.336132845978057,
449
+ -2.282512477405689,
450
+ -16.005551828149713
451
+ ],
452
+ "type": "go straight",
453
+ "value": 3,
454
+ "yaw": 1.0471975511965979
455
+ }
456
+ }
457
+ {
458
+ "action": {
459
+ "imageid": 35,
460
+ "pos": [
461
+ 26.836132845978057,
462
+ 0.31556373394762716,
463
+ -16.005551828149713
464
+ ],
465
+ "type": "go straight",
466
+ "value": 3,
467
+ "yaw": 1.0471975511965979
468
+ }
469
+ }
470
+ {
471
+ "action": {
472
+ "imageid": 36,
473
+ "pos": [
474
+ 28.336132845978057,
475
+ 2.913639945300943,
476
+ -16.005551828149713
477
+ ],
478
+ "type": "go straight",
479
+ "value": 3,
480
+ "yaw": 1.0471975511965979
481
+ }
482
+ }
483
+ {
484
+ "action": {
485
+ "imageid": 37,
486
+ "pos": [
487
+ 29.836132845978057,
488
+ 5.511716156654259,
489
+ -16.005551828149713
490
+ ],
491
+ "type": "go straight",
492
+ "value": 3,
493
+ "yaw": 1.0471975511965979
494
+ }
495
+ }
496
+ {
497
+ "action": {
498
+ "imageid": 38,
499
+ "pos": [
500
+ 31.336132845978057,
501
+ 8.109792368007575,
502
+ -16.005551828149713
503
+ ],
504
+ "type": "go straight",
505
+ "value": 3,
506
+ "yaw": 1.0471975511965979
507
+ }
508
+ }
509
+ {
510
+ "action": {
511
+ "imageid": 39,
512
+ "pos": [
513
+ 32.83613284597806,
514
+ 10.707868579360891,
515
+ -16.005551828149713
516
+ ],
517
+ "type": "go straight",
518
+ "value": 3,
519
+ "yaw": 1.0471975511965979
520
+ }
521
+ }
522
+ {
523
+ "action": {
524
+ "imageid": 40,
525
+ "pos": [
526
+ 34.33613284597806,
527
+ 13.305944790714207,
528
+ -16.005551828149713
529
+ ],
530
+ "type": "go straight",
531
+ "value": 3,
532
+ "yaw": 1.0471975511965979
533
+ }
534
+ }
535
+ {
536
+ "action": {
537
+ "imageid": 41,
538
+ "pos": [
539
+ 35.83613284597806,
540
+ 15.904021002067523,
541
+ -16.005551828149713
542
+ ],
543
+ "type": "go straight",
544
+ "value": 3,
545
+ "yaw": 1.0471975511965979
546
+ }
547
+ }
548
+ {
549
+ "action": {
550
+ "imageid": 42,
551
+ "pos": [
552
+ 37.33613284597806,
553
+ 18.50209721342084,
554
+ -16.005551828149713
555
+ ],
556
+ "type": "turn left",
557
+ "value": 30,
558
+ "yaw": 1.0471975511965979
559
+ }
560
+ }
561
+ {
562
+ "action": {
563
+ "imageid": 43,
564
+ "pos": [
565
+ 37.33613284597806,
566
+ 18.50209721342084,
567
+ -16.005551828149713
568
+ ],
569
+ "type": "go straight",
570
+ "value": 3,
571
+ "yaw": 1.5707963267948966
572
+ }
573
+ }
574
+ {
575
+ "action": {
576
+ "imageid": 44,
577
+ "pos": [
578
+ 37.33613284597806,
579
+ 21.50209721342084,
580
+ -16.005551828149713
581
+ ],
582
+ "type": "go straight",
583
+ "value": 3,
584
+ "yaw": 1.5707963267948966
585
+ }
586
+ }
587
+ {
588
+ "action": {
589
+ "imageid": 45,
590
+ "pos": [
591
+ 37.33613284597806,
592
+ 24.50209721342084,
593
+ -16.005551828149713
594
+ ],
595
+ "type": "go straight",
596
+ "value": 3,
597
+ "yaw": 1.5707963267948966
598
+ }
599
+ }
600
+ {
601
+ "action": {
602
+ "imageid": 46,
603
+ "pos": [
604
+ 37.33613284597806,
605
+ 27.50209721342084,
606
+ -16.005551828149713
607
+ ],
608
+ "type": "go straight",
609
+ "value": 3,
610
+ "yaw": 1.5707963267948966
611
+ }
612
+ }
613
+ {
614
+ "action": {
615
+ "imageid": 47,
616
+ "pos": [
617
+ 37.33613284597806,
618
+ 30.50209721342084,
619
+ -16.005551828149713
620
+ ],
621
+ "type": "go straight",
622
+ "value": 3,
623
+ "yaw": 1.5707963267948966
624
+ }
625
+ }
626
+ {
627
+ "action": {
628
+ "imageid": 48,
629
+ "pos": [
630
+ 37.33613284597806,
631
+ 33.50209721342084,
632
+ -16.005551828149713
633
+ ],
634
+ "type": "go straight",
635
+ "value": 3,
636
+ "yaw": 1.5707963267948966
637
+ }
638
+ }
639
+ {
640
+ "action": {
641
+ "imageid": 49,
642
+ "pos": [
643
+ 37.33613284597806,
644
+ 36.50209721342084,
645
+ -16.005551828149713
646
+ ],
647
+ "type": "go straight",
648
+ "value": 3,
649
+ "yaw": 1.5707963267948966
650
+ }
651
+ }
652
+ {
653
+ "action": {
654
+ "imageid": 50,
655
+ "pos": [
656
+ 37.33613284597806,
657
+ 39.50209721342084,
658
+ -16.005551828149713
659
+ ],
660
+ "type": "go straight",
661
+ "value": 3,
662
+ "yaw": 1.5707963267948966
663
+ }
664
+ }
665
+ {
666
+ "action": {
667
+ "imageid": 51,
668
+ "pos": [
669
+ 37.33613284597806,
670
+ 42.50209721342084,
671
+ -16.005551828149713
672
+ ],
673
+ "type": "go straight",
674
+ "value": 3,
675
+ "yaw": 1.5707963267948966
676
+ }
677
+ }
678
+ {
679
+ "action": {
680
+ "imageid": 52,
681
+ "pos": [
682
+ 37.33613284597806,
683
+ 45.50209721342084,
684
+ -16.005551828149713
685
+ ],
686
+ "type": "go straight",
687
+ "value": 3,
688
+ "yaw": 1.5707963267948966
689
+ }
690
+ }
691
+ {
692
+ "action": {
693
+ "imageid": 53,
694
+ "pos": [
695
+ 37.33613284597806,
696
+ 48.50209721342084,
697
+ -16.005551828149713
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
+ 38.59305419921875,
710
+ 50.505572175979616,
711
+ 0.0
712
+ ],
713
+ "shape": "test",
714
+ "size": "test",
715
+ "type": "building"
716
+ }
717
+ }
Image/env_gs_nwpu01/astar_data/long/2025-1-13_14-44-39_2040332871/pose.jsonl ADDED
@@ -0,0 +1,743 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -33.55620035872744,
6
+ 369.96901665650125,
7
+ -16.18391292650506
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 2.0943951023931953
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -35.05620035872744,
19
+ 372.56709286785457,
20
+ -16.18391292650506
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 2.0943951023931953
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -36.55620035872744,
32
+ 375.1651690792079,
33
+ -16.18391292650506
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 2.0943951023931953
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -38.05620035872744,
45
+ 377.7632452905612,
46
+ -16.18391292650506
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 2.0943951023931953
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -39.55620035872744,
58
+ 380.3613215019145,
59
+ -16.18391292650506
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 2.0943951023931953
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -41.05620035872744,
71
+ 382.95939771326783,
72
+ -16.18391292650506
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 2.0943951023931953
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -42.55620035872744,
84
+ 385.55747392462115,
85
+ -16.18391292650506
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 2.0943951023931953
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -44.05620035872744,
97
+ 388.15555013597447,
98
+ -16.18391292650506
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 2.0943951023931953
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -45.55620035872744,
110
+ 390.7536263473278,
111
+ -16.18391292650506
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 2.0943951023931953
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -47.05620035872744,
123
+ 393.3517025586811,
124
+ -16.18391292650506
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 2.0943951023931953
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -48.55620035872744,
136
+ 395.9497787700344,
137
+ -16.18391292650506
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 2.0943951023931953
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -50.05620035872744,
149
+ 398.54785498138773,
150
+ -16.18391292650506
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 2.0943951023931953
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -51.55620035872744,
162
+ 401.14593119274105,
163
+ -16.18391292650506
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 2.0943951023931953
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -53.05620035872744,
175
+ 403.74400740409436,
176
+ -16.18391292650506
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 2.0943951023931953
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -54.55620035872744,
188
+ 406.3420836154477,
189
+ -16.18391292650506
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 2.0943951023931953
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -56.05620035872744,
201
+ 408.940159826801,
202
+ -16.18391292650506
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 2.0943951023931953
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -57.55620035872744,
214
+ 411.5382360381543,
215
+ -16.18391292650506
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 2.0943951023931953
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -59.05620035872744,
227
+ 414.1363122495076,
228
+ -16.18391292650506
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 2.0943951023931953
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -60.55620035872744,
240
+ 416.73438846086094,
241
+ -16.18391292650506
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 2.0943951023931953
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -62.05620035872744,
253
+ 419.33246467221426,
254
+ -16.18391292650506
255
+ ],
256
+ "type": "turn right",
257
+ "value": 30,
258
+ "yaw": 2.0943951023931953
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -62.05620035872744,
266
+ 419.33246467221426,
267
+ -16.18391292650506
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 1.5707963267948966
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -62.05620035872744,
279
+ 422.33246467221426,
280
+ -16.18391292650506
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 1.5707963267948966
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -62.05620035872744,
292
+ 425.33246467221426,
293
+ -16.18391292650506
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 1.5707963267948966
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -62.05620035872744,
305
+ 428.33246467221426,
306
+ -16.18391292650506
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": 1.5707963267948966
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -62.05620035872744,
318
+ 431.33246467221426,
319
+ -16.18391292650506
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
+ -62.05620035872744,
345
+ 434.33246467221426,
346
+ -16.18391292650506
347
+ ],
348
+ "type": "turn right",
349
+ "value": 30,
350
+ "yaw": 1.5707963267948966
351
+ }
352
+ }
353
+ {
354
+ "action": {
355
+ "imageid": 27,
356
+ "pos": [
357
+ -62.05620035872744,
358
+ 434.33246467221426,
359
+ -16.18391292650506
360
+ ],
361
+ "type": "turn right",
362
+ "value": 30,
363
+ "yaw": 1.0471975511965979
364
+ }
365
+ }
366
+ {
367
+ "action": {
368
+ "imageid": 28,
369
+ "pos": [
370
+ -62.05620035872744,
371
+ 434.33246467221426,
372
+ -16.18391292650506
373
+ ],
374
+ "type": "turn right",
375
+ "value": 30,
376
+ "yaw": 0.5235987755982989
377
+ }
378
+ }
379
+ {
380
+ "action": {
381
+ "imageid": 29,
382
+ "pos": [
383
+ -62.05620035872744,
384
+ 434.33246467221426,
385
+ -16.18391292650506
386
+ ],
387
+ "type": "turn right",
388
+ "value": 30,
389
+ "yaw": 0.0
390
+ }
391
+ }
392
+ {
393
+ "action": {
394
+ "imageid": 30,
395
+ "pos": [
396
+ -62.05620035872744,
397
+ 434.33246467221426,
398
+ -16.18391292650506
399
+ ],
400
+ "type": "go straight",
401
+ "value": 3,
402
+ "yaw": 0.0
403
+ }
404
+ }
405
+ {
406
+ "action": {
407
+ "imageid": 31,
408
+ "pos": [
409
+ -59.05620035872744,
410
+ 434.33246467221426,
411
+ -16.18391292650506
412
+ ],
413
+ "type": "go straight",
414
+ "value": 3,
415
+ "yaw": 0.0
416
+ }
417
+ }
418
+ {
419
+ "action": {
420
+ "imageid": 32,
421
+ "pos": [
422
+ -56.05620035872744,
423
+ 434.33246467221426,
424
+ -16.18391292650506
425
+ ],
426
+ "type": "go straight",
427
+ "value": 3,
428
+ "yaw": 0.0
429
+ }
430
+ }
431
+ {
432
+ "action": {
433
+ "imageid": 33,
434
+ "pos": [
435
+ -53.05620035872744,
436
+ 434.33246467221426,
437
+ -16.18391292650506
438
+ ],
439
+ "type": "go straight",
440
+ "value": 3,
441
+ "yaw": 0.0
442
+ }
443
+ }
444
+ {
445
+ "action": {
446
+ "imageid": 34,
447
+ "pos": [
448
+ -50.05620035872744,
449
+ 434.33246467221426,
450
+ -16.18391292650506
451
+ ],
452
+ "type": "go straight",
453
+ "value": 3,
454
+ "yaw": 0.0
455
+ }
456
+ }
457
+ {
458
+ "action": {
459
+ "imageid": 35,
460
+ "pos": [
461
+ -47.05620035872744,
462
+ 434.33246467221426,
463
+ -16.18391292650506
464
+ ],
465
+ "type": "go straight",
466
+ "value": 3,
467
+ "yaw": 0.0
468
+ }
469
+ }
470
+ {
471
+ "action": {
472
+ "imageid": 36,
473
+ "pos": [
474
+ -44.05620035872744,
475
+ 434.33246467221426,
476
+ -16.18391292650506
477
+ ],
478
+ "type": "go straight",
479
+ "value": 3,
480
+ "yaw": 0.0
481
+ }
482
+ }
483
+ {
484
+ "action": {
485
+ "imageid": 37,
486
+ "pos": [
487
+ -41.05620035872744,
488
+ 434.33246467221426,
489
+ -16.18391292650506
490
+ ],
491
+ "type": "go straight",
492
+ "value": 3,
493
+ "yaw": 0.0
494
+ }
495
+ }
496
+ {
497
+ "action": {
498
+ "imageid": 38,
499
+ "pos": [
500
+ -38.05620035872744,
501
+ 434.33246467221426,
502
+ -16.18391292650506
503
+ ],
504
+ "type": "go straight",
505
+ "value": 3,
506
+ "yaw": 0.0
507
+ }
508
+ }
509
+ {
510
+ "action": {
511
+ "imageid": 39,
512
+ "pos": [
513
+ -35.05620035872744,
514
+ 434.33246467221426,
515
+ -16.18391292650506
516
+ ],
517
+ "type": "go straight",
518
+ "value": 3,
519
+ "yaw": 0.0
520
+ }
521
+ }
522
+ {
523
+ "action": {
524
+ "imageid": 40,
525
+ "pos": [
526
+ -32.05620035872744,
527
+ 434.33246467221426,
528
+ -16.18391292650506
529
+ ],
530
+ "type": "go straight",
531
+ "value": 3,
532
+ "yaw": 0.0
533
+ }
534
+ }
535
+ {
536
+ "action": {
537
+ "imageid": 41,
538
+ "pos": [
539
+ -29.056200358727438,
540
+ 434.33246467221426,
541
+ -16.18391292650506
542
+ ],
543
+ "type": "go straight",
544
+ "value": 3,
545
+ "yaw": 0.0
546
+ }
547
+ }
548
+ {
549
+ "action": {
550
+ "imageid": 42,
551
+ "pos": [
552
+ -26.056200358727438,
553
+ 434.33246467221426,
554
+ -16.18391292650506
555
+ ],
556
+ "type": "turn right",
557
+ "value": 30,
558
+ "yaw": 0.0
559
+ }
560
+ }
561
+ {
562
+ "action": {
563
+ "imageid": 43,
564
+ "pos": [
565
+ -26.056200358727438,
566
+ 434.33246467221426,
567
+ -16.18391292650506
568
+ ],
569
+ "type": "turn right",
570
+ "value": 30,
571
+ "yaw": -0.5235987755982988
572
+ }
573
+ }
574
+ {
575
+ "action": {
576
+ "imageid": 44,
577
+ "pos": [
578
+ -26.056200358727438,
579
+ 434.33246467221426,
580
+ -16.18391292650506
581
+ ],
582
+ "type": "go straight",
583
+ "value": 3,
584
+ "yaw": -1.0471975511965976
585
+ }
586
+ }
587
+ {
588
+ "action": {
589
+ "imageid": 45,
590
+ "pos": [
591
+ -24.556200358727438,
592
+ 431.73438846086094,
593
+ -16.18391292650506
594
+ ],
595
+ "type": "go straight",
596
+ "value": 3,
597
+ "yaw": -1.0471975511965979
598
+ }
599
+ }
600
+ {
601
+ "action": {
602
+ "imageid": 46,
603
+ "pos": [
604
+ -23.056200358727438,
605
+ 429.1363122495076,
606
+ -16.18391292650506
607
+ ],
608
+ "type": "go straight",
609
+ "value": 3,
610
+ "yaw": -1.0471975511965979
611
+ }
612
+ }
613
+ {
614
+ "action": {
615
+ "imageid": 47,
616
+ "pos": [
617
+ -21.556200358727438,
618
+ 426.5382360381543,
619
+ -16.18391292650506
620
+ ],
621
+ "type": "go straight",
622
+ "value": 3,
623
+ "yaw": -1.0471975511965979
624
+ }
625
+ }
626
+ {
627
+ "action": {
628
+ "imageid": 48,
629
+ "pos": [
630
+ -20.056200358727438,
631
+ 423.940159826801,
632
+ -16.18391292650506
633
+ ],
634
+ "type": "go straight",
635
+ "value": 3,
636
+ "yaw": -1.0471975511965979
637
+ }
638
+ }
639
+ {
640
+ "action": {
641
+ "imageid": 49,
642
+ "pos": [
643
+ -18.556200358727438,
644
+ 421.3420836154477,
645
+ -16.18391292650506
646
+ ],
647
+ "type": "turn left",
648
+ "value": 30,
649
+ "yaw": -1.0471975511965979
650
+ }
651
+ }
652
+ {
653
+ "action": {
654
+ "imageid": 50,
655
+ "pos": [
656
+ -18.556200358727438,
657
+ 421.3420836154477,
658
+ -16.18391292650506
659
+ ],
660
+ "type": "go straight",
661
+ "value": 3,
662
+ "yaw": -0.523598775598299
663
+ }
664
+ }
665
+ {
666
+ "action": {
667
+ "imageid": 51,
668
+ "pos": [
669
+ -15.958124147374122,
670
+ 419.8420836154477,
671
+ -16.18391292650506
672
+ ],
673
+ "type": "go straight",
674
+ "value": 3,
675
+ "yaw": -0.5235987755982988
676
+ }
677
+ }
678
+ {
679
+ "action": {
680
+ "imageid": 52,
681
+ "pos": [
682
+ -13.360047936020806,
683
+ 418.3420836154477,
684
+ -16.18391292650506
685
+ ],
686
+ "type": "go straight",
687
+ "value": 3,
688
+ "yaw": -0.5235987755982988
689
+ }
690
+ }
691
+ {
692
+ "action": {
693
+ "imageid": 53,
694
+ "pos": [
695
+ -10.76197172466749,
696
+ 416.8420836154477,
697
+ -16.18391292650506
698
+ ],
699
+ "type": "go straight",
700
+ "value": 3,
701
+ "yaw": -0.5235987755982988
702
+ }
703
+ }
704
+ {
705
+ "action": {
706
+ "imageid": 54,
707
+ "pos": [
708
+ -8.163895513314174,
709
+ 415.3420836154477,
710
+ -16.18391292650506
711
+ ],
712
+ "type": "go straight",
713
+ "value": 3,
714
+ "yaw": -0.5235987755982988
715
+ }
716
+ }
717
+ {
718
+ "action": {
719
+ "imageid": 55,
720
+ "pos": [
721
+ -5.5658193019608575,
722
+ 413.8420836154477,
723
+ -16.18391292650506
724
+ ],
725
+ "type": "stop",
726
+ "value": 0,
727
+ "yaw": -0.5235987755982988
728
+ }
729
+ }
730
+ {
731
+ "aim_landmark": {
732
+ "color": "test",
733
+ "feature": "test",
734
+ "position": [
735
+ -5.251102495193482,
736
+ 412.3764583587647,
737
+ 0.0
738
+ ],
739
+ "shape": "test",
740
+ "size": "test",
741
+ "type": "building"
742
+ }
743
+ }
Image/env_gs_nwpu01/astar_data/long/2025-1-13_15-22-38_1172755590/pose.jsonl ADDED
@@ -0,0 +1,730 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -47.26529489206773,
6
+ 302.9541855063459,
7
+ -22.69153656059166
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -1.0471975511965979
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -45.76529489206773,
19
+ 300.35610929499256,
20
+ -22.69153656059166
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -1.0471975511965979
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -44.26529489206773,
32
+ 297.75803308363925,
33
+ -22.69153656059166
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -1.0471975511965979
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -42.76529489206773,
45
+ 295.15995687228593,
46
+ -22.69153656059166
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -1.0471975511965979
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -41.26529489206773,
58
+ 292.5618806609326,
59
+ -22.69153656059166
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -1.0471975511965979
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -39.76529489206773,
71
+ 289.9638044495793,
72
+ -22.69153656059166
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -1.0471975511965979
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -38.26529489206773,
84
+ 287.365728238226,
85
+ -22.69153656059166
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -1.0471975511965979
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -36.76529489206773,
97
+ 284.76765202687267,
98
+ -22.69153656059166
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -1.0471975511965979
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -35.26529489206773,
110
+ 282.16957581551935,
111
+ -22.69153656059166
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -1.0471975511965979
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -33.76529489206773,
123
+ 279.57149960416604,
124
+ -22.69153656059166
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -1.0471975511965979
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -32.26529489206773,
136
+ 276.9734233928127,
137
+ -22.69153656059166
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -1.0471975511965979
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -30.76529489206773,
149
+ 274.3753471814594,
150
+ -22.69153656059166
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -1.0471975511965979
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -29.26529489206773,
162
+ 271.7772709701061,
163
+ -22.69153656059166
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -1.0471975511965979
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -27.76529489206773,
175
+ 269.17919475875277,
176
+ -22.69153656059166
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -1.0471975511965979
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -26.26529489206773,
188
+ 266.58111854739946,
189
+ -22.69153656059166
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -1.0471975511965979
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -24.76529489206773,
201
+ 263.98304233604614,
202
+ -22.69153656059166
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -1.0471975511965979
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -23.26529489206773,
214
+ 261.3849661246928,
215
+ -22.69153656059166
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -1.0471975511965979
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -21.76529489206773,
227
+ 258.7868899133395,
228
+ -22.69153656059166
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -1.0471975511965979
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -20.26529489206773,
240
+ 256.1888137019862,
241
+ -22.69153656059166
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -1.0471975511965979
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -18.76529489206773,
253
+ 253.59073749063288,
254
+ -22.69153656059166
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -1.0471975511965979
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -17.26529489206773,
266
+ 250.99266127927956,
267
+ -22.69153656059166
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -1.0471975511965979
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -15.765294892067729,
279
+ 248.39458506792624,
280
+ -22.69153656059166
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -1.0471975511965979
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -14.265294892067729,
292
+ 245.79650885657293,
293
+ -22.69153656059166
294
+ ],
295
+ "type": "turn left",
296
+ "value": 30,
297
+ "yaw": -1.0471975511965979
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -14.265294892067729,
305
+ 245.79650885657293,
306
+ -22.69153656059166
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": -0.523598775598299
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -11.667218680714413,
318
+ 244.29650885657293,
319
+ -22.69153656059166
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": -0.5235987755982988
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ -9.069142469361097,
331
+ 242.79650885657293,
332
+ -22.69153656059166
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": -0.5235987755982988
337
+ }
338
+ }
339
+ {
340
+ "aim_landmark": {
341
+ "color": "test",
342
+ "feature": "test",
343
+ "position": [
344
+ -5.054965496063232,
345
+ 237.79356269836427,
346
+ 0.0
347
+ ],
348
+ "shape": "test",
349
+ "size": "test",
350
+ "type": "building"
351
+ }
352
+ }
353
+ {
354
+ "action": {
355
+ "imageid": 27,
356
+ "pos": [
357
+ -6.471066258007781,
358
+ 241.29650885657293,
359
+ -22.69153656059166
360
+ ],
361
+ "type": "turn left",
362
+ "value": 30,
363
+ "yaw": -0.5235987755982988
364
+ }
365
+ }
366
+ {
367
+ "action": {
368
+ "imageid": 28,
369
+ "pos": [
370
+ -6.471066258007781,
371
+ 241.29650885657293,
372
+ -22.69153656059166
373
+ ],
374
+ "type": "go straight",
375
+ "value": 3,
376
+ "yaw": 3.141592653589793
377
+ }
378
+ }
379
+ {
380
+ "action": {
381
+ "imageid": 29,
382
+ "pos": [
383
+ -9.471066258007781,
384
+ 241.29650885657293,
385
+ -22.69153656059166
386
+ ],
387
+ "type": "go straight",
388
+ "value": 3,
389
+ "yaw": 3.141592653589793
390
+ }
391
+ }
392
+ {
393
+ "action": {
394
+ "imageid": 30,
395
+ "pos": [
396
+ -12.471066258007781,
397
+ 241.29650885657293,
398
+ -22.69153656059166
399
+ ],
400
+ "type": "go straight",
401
+ "value": 3,
402
+ "yaw": 3.141592653589793
403
+ }
404
+ }
405
+ {
406
+ "action": {
407
+ "imageid": 31,
408
+ "pos": [
409
+ -15.471066258007781,
410
+ 241.29650885657293,
411
+ -22.69153656059166
412
+ ],
413
+ "type": "go straight",
414
+ "value": 3,
415
+ "yaw": 3.141592653589793
416
+ }
417
+ }
418
+ {
419
+ "action": {
420
+ "imageid": 32,
421
+ "pos": [
422
+ -18.47106625800778,
423
+ 241.29650885657293,
424
+ -22.69153656059166
425
+ ],
426
+ "type": "go straight",
427
+ "value": 3,
428
+ "yaw": 3.141592653589793
429
+ }
430
+ }
431
+ {
432
+ "action": {
433
+ "imageid": 33,
434
+ "pos": [
435
+ -21.47106625800778,
436
+ 241.29650885657293,
437
+ -22.69153656059166
438
+ ],
439
+ "type": "go straight",
440
+ "value": 3,
441
+ "yaw": 3.141592653589793
442
+ }
443
+ }
444
+ {
445
+ "action": {
446
+ "imageid": 34,
447
+ "pos": [
448
+ -24.47106625800778,
449
+ 241.29650885657293,
450
+ -22.69153656059166
451
+ ],
452
+ "type": "go straight",
453
+ "value": 3,
454
+ "yaw": 3.141592653589793
455
+ }
456
+ }
457
+ {
458
+ "action": {
459
+ "imageid": 35,
460
+ "pos": [
461
+ -27.47106625800778,
462
+ 241.29650885657293,
463
+ -22.69153656059166
464
+ ],
465
+ "type": "go straight",
466
+ "value": 3,
467
+ "yaw": 3.141592653589793
468
+ }
469
+ }
470
+ {
471
+ "action": {
472
+ "imageid": 36,
473
+ "pos": [
474
+ -30.47106625800778,
475
+ 241.29650885657293,
476
+ -22.69153656059166
477
+ ],
478
+ "type": "go straight",
479
+ "value": 3,
480
+ "yaw": 3.141592653589793
481
+ }
482
+ }
483
+ {
484
+ "action": {
485
+ "imageid": 37,
486
+ "pos": [
487
+ -33.47106625800778,
488
+ 241.29650885657293,
489
+ -22.69153656059166
490
+ ],
491
+ "type": "go straight",
492
+ "value": 3,
493
+ "yaw": 3.141592653589793
494
+ }
495
+ }
496
+ {
497
+ "action": {
498
+ "imageid": 38,
499
+ "pos": [
500
+ -36.47106625800778,
501
+ 241.29650885657293,
502
+ -22.69153656059166
503
+ ],
504
+ "type": "go straight",
505
+ "value": 3,
506
+ "yaw": 3.141592653589793
507
+ }
508
+ }
509
+ {
510
+ "action": {
511
+ "imageid": 39,
512
+ "pos": [
513
+ -39.47106625800778,
514
+ 241.29650885657293,
515
+ -22.69153656059166
516
+ ],
517
+ "type": "go straight",
518
+ "value": 3,
519
+ "yaw": 3.141592653589793
520
+ }
521
+ }
522
+ {
523
+ "action": {
524
+ "imageid": 40,
525
+ "pos": [
526
+ -42.47106625800778,
527
+ 241.29650885657293,
528
+ -22.69153656059166
529
+ ],
530
+ "type": "go straight",
531
+ "value": 3,
532
+ "yaw": 3.141592653589793
533
+ }
534
+ }
535
+ {
536
+ "action": {
537
+ "imageid": 41,
538
+ "pos": [
539
+ -45.47106625800778,
540
+ 241.29650885657293,
541
+ -22.69153656059166
542
+ ],
543
+ "type": "go straight",
544
+ "value": 3,
545
+ "yaw": 3.141592653589793
546
+ }
547
+ }
548
+ {
549
+ "action": {
550
+ "imageid": 42,
551
+ "pos": [
552
+ -48.47106625800778,
553
+ 241.29650885657293,
554
+ -22.69153656059166
555
+ ],
556
+ "type": "go straight",
557
+ "value": 3,
558
+ "yaw": 3.141592653589793
559
+ }
560
+ }
561
+ {
562
+ "action": {
563
+ "imageid": 43,
564
+ "pos": [
565
+ -51.47106625800778,
566
+ 241.29650885657293,
567
+ -22.69153656059166
568
+ ],
569
+ "type": "turn left",
570
+ "value": 30,
571
+ "yaw": 3.141592653589793
572
+ }
573
+ }
574
+ {
575
+ "action": {
576
+ "imageid": 44,
577
+ "pos": [
578
+ -51.47106625800778,
579
+ 241.29650885657293,
580
+ -22.69153656059166
581
+ ],
582
+ "type": "go straight",
583
+ "value": 3,
584
+ "yaw": 3.665191429188092
585
+ }
586
+ }
587
+ {
588
+ "action": {
589
+ "imageid": 45,
590
+ "pos": [
591
+ -54.0691424693611,
592
+ 239.79650885657293,
593
+ -22.69153656059166
594
+ ],
595
+ "type": "go straight",
596
+ "value": 3,
597
+ "yaw": -2.6179938779914944
598
+ }
599
+ }
600
+ {
601
+ "action": {
602
+ "imageid": 46,
603
+ "pos": [
604
+ -56.66721868071441,
605
+ 238.29650885657293,
606
+ -22.69153656059166
607
+ ],
608
+ "type": "go straight",
609
+ "value": 3,
610
+ "yaw": -2.6179938779914944
611
+ }
612
+ }
613
+ {
614
+ "action": {
615
+ "imageid": 47,
616
+ "pos": [
617
+ -59.26529489206773,
618
+ 236.79650885657293,
619
+ -22.69153656059166
620
+ ],
621
+ "type": "go straight",
622
+ "value": 3,
623
+ "yaw": -2.6179938779914944
624
+ }
625
+ }
626
+ {
627
+ "action": {
628
+ "imageid": 48,
629
+ "pos": [
630
+ -61.863371103421045,
631
+ 235.29650885657293,
632
+ -22.69153656059166
633
+ ],
634
+ "type": "go straight",
635
+ "value": 3,
636
+ "yaw": -2.6179938779914944
637
+ }
638
+ }
639
+ {
640
+ "action": {
641
+ "imageid": 49,
642
+ "pos": [
643
+ -64.46144731477436,
644
+ 233.79650885657293,
645
+ -22.69153656059166
646
+ ],
647
+ "type": "go straight",
648
+ "value": 3,
649
+ "yaw": -2.6179938779914944
650
+ }
651
+ }
652
+ {
653
+ "action": {
654
+ "imageid": 50,
655
+ "pos": [
656
+ -67.05952352612768,
657
+ 232.29650885657293,
658
+ -22.69153656059166
659
+ ],
660
+ "type": "go straight",
661
+ "value": 3,
662
+ "yaw": -2.6179938779914944
663
+ }
664
+ }
665
+ {
666
+ "action": {
667
+ "imageid": 51,
668
+ "pos": [
669
+ -69.657599737481,
670
+ 230.79650885657293,
671
+ -22.69153656059166
672
+ ],
673
+ "type": "go straight",
674
+ "value": 3,
675
+ "yaw": -2.6179938779914944
676
+ }
677
+ }
678
+ {
679
+ "action": {
680
+ "imageid": 52,
681
+ "pos": [
682
+ -72.25567594883431,
683
+ 229.29650885657293,
684
+ -22.69153656059166
685
+ ],
686
+ "type": "go straight",
687
+ "value": 3,
688
+ "yaw": -2.6179938779914944
689
+ }
690
+ }
691
+ {
692
+ "action": {
693
+ "imageid": 53,
694
+ "pos": [
695
+ -74.85375216018763,
696
+ 227.79650885657293,
697
+ -22.69153656059166
698
+ ],
699
+ "type": "go straight",
700
+ "value": 3,
701
+ "yaw": -2.6179938779914944
702
+ }
703
+ }
704
+ {
705
+ "action": {
706
+ "imageid": 54,
707
+ "pos": [
708
+ -77.45182837154094,
709
+ 226.29650885657293,
710
+ -22.69153656059166
711
+ ],
712
+ "type": "stop",
713
+ "value": 0,
714
+ "yaw": -2.6179938779914944
715
+ }
716
+ }
717
+ {
718
+ "aim_landmark": {
719
+ "color": "test",
720
+ "feature": "test",
721
+ "position": [
722
+ -78.11547446250916,
723
+ 225.18597507476807,
724
+ 0.0
725
+ ],
726
+ "shape": "test",
727
+ "size": "test",
728
+ "type": "building"
729
+ }
730
+ }
Image/env_gs_nwpu01/astar_data/long/2025-1-13_15-23-32_243268139/pose.jsonl ADDED
@@ -0,0 +1,639 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 83.96353648923221,
6
+ 144.27250594736137,
7
+ -21.653284594499528
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -2.0943951023931953
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 82.46353648923221,
19
+ 141.67442973600805,
20
+ -21.653284594499528
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -2.0943951023931953
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 80.96353648923221,
32
+ 139.07635352465473,
33
+ -21.653284594499528
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -2.0943951023931953
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 79.46353648923221,
45
+ 136.47827731330142,
46
+ -21.653284594499528
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -2.0943951023931953
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 77.96353648923221,
58
+ 133.8802011019481,
59
+ -21.653284594499528
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -2.0943951023931953
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 76.46353648923221,
71
+ 131.2821248905948,
72
+ -21.653284594499528
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -2.0943951023931953
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 74.96353648923221,
84
+ 128.68404867924147,
85
+ -21.653284594499528
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -2.0943951023931953
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 73.46353648923221,
97
+ 126.08597246788815,
98
+ -21.653284594499528
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -2.0943951023931953
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 71.96353648923221,
110
+ 123.48789625653484,
111
+ -21.653284594499528
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -2.0943951023931953
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 70.46353648923221,
123
+ 120.88982004518152,
124
+ -21.653284594499528
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -2.0943951023931953
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 68.96353648923221,
136
+ 118.2917438338282,
137
+ -21.653284594499528
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -2.0943951023931953
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 67.46353648923221,
149
+ 115.69366762247489,
150
+ -21.653284594499528
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -2.0943951023931953
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 65.96353648923221,
162
+ 113.09559141112157,
163
+ -21.653284594499528
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -2.0943951023931953
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 64.46353648923221,
175
+ 110.49751519976826,
176
+ -21.653284594499528
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -2.0943951023931953
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 62.96353648923221,
188
+ 107.89943898841494,
189
+ -21.653284594499528
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -2.0943951023931953
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 61.46353648923221,
201
+ 105.30136277706163,
202
+ -21.653284594499528
203
+ ],
204
+ "type": "turn left",
205
+ "value": 30,
206
+ "yaw": -2.0943951023931953
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 61.46353648923221,
214
+ 105.30136277706163,
215
+ -21.653284594499528
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -1.5707963267948966
220
+ }
221
+ }
222
+ {
223
+ "aim_landmark": {
224
+ "color": "test",
225
+ "feature": "test",
226
+ "position": [
227
+ 61.79868612289429,
228
+ 98.42731351852417,
229
+ 0.0
230
+ ],
231
+ "shape": "test",
232
+ "size": "test",
233
+ "type": "building"
234
+ }
235
+ }
236
+ {
237
+ "action": {
238
+ "imageid": 18,
239
+ "pos": [
240
+ 61.46353648923221,
241
+ 102.30136277706163,
242
+ -21.653284594499528
243
+ ],
244
+ "type": "turn left",
245
+ "value": 30,
246
+ "yaw": -1.5707963267948966
247
+ }
248
+ }
249
+ {
250
+ "action": {
251
+ "imageid": 19,
252
+ "pos": [
253
+ 61.46353648923221,
254
+ 102.30136277706163,
255
+ -21.653284594499528
256
+ ],
257
+ "type": "turn left",
258
+ "value": 30,
259
+ "yaw": -1.0471975511965979
260
+ }
261
+ }
262
+ {
263
+ "action": {
264
+ "imageid": 20,
265
+ "pos": [
266
+ 61.46353648923221,
267
+ 102.30136277706163,
268
+ -21.653284594499528
269
+ ],
270
+ "type": "turn left",
271
+ "value": 30,
272
+ "yaw": -0.5235987755982989
273
+ }
274
+ }
275
+ {
276
+ "action": {
277
+ "imageid": 21,
278
+ "pos": [
279
+ 61.46353648923221,
280
+ 102.30136277706163,
281
+ -21.653284594499528
282
+ ],
283
+ "type": "turn left",
284
+ "value": 30,
285
+ "yaw": 0.0
286
+ }
287
+ }
288
+ {
289
+ "action": {
290
+ "imageid": 22,
291
+ "pos": [
292
+ 61.46353648923221,
293
+ 102.30136277706163,
294
+ -21.653284594499528
295
+ ],
296
+ "type": "turn left",
297
+ "value": 30,
298
+ "yaw": 0.5235987755982987
299
+ }
300
+ }
301
+ {
302
+ "action": {
303
+ "imageid": 23,
304
+ "pos": [
305
+ 61.46353648923221,
306
+ 102.30136277706163,
307
+ -21.653284594499528
308
+ ],
309
+ "type": "go straight",
310
+ "value": 3,
311
+ "yaw": 0.5235987755982988
312
+ }
313
+ }
314
+ {
315
+ "action": {
316
+ "imageid": 24,
317
+ "pos": [
318
+ 64.06161270058553,
319
+ 103.80136277706163,
320
+ -21.653284594499528
321
+ ],
322
+ "type": "go straight",
323
+ "value": 3,
324
+ "yaw": 0.5235987755982988
325
+ }
326
+ }
327
+ {
328
+ "action": {
329
+ "imageid": 25,
330
+ "pos": [
331
+ 66.65968891193884,
332
+ 105.30136277706163,
333
+ -21.653284594499528
334
+ ],
335
+ "type": "go straight",
336
+ "value": 3,
337
+ "yaw": 0.5235987755982988
338
+ }
339
+ }
340
+ {
341
+ "action": {
342
+ "imageid": 26,
343
+ "pos": [
344
+ 69.25776512329216,
345
+ 106.80136277706163,
346
+ -21.653284594499528
347
+ ],
348
+ "type": "go straight",
349
+ "value": 3,
350
+ "yaw": 0.5235987755982988
351
+ }
352
+ }
353
+ {
354
+ "action": {
355
+ "imageid": 27,
356
+ "pos": [
357
+ 71.85584133464548,
358
+ 108.30136277706163,
359
+ -21.653284594499528
360
+ ],
361
+ "type": "go straight",
362
+ "value": 3,
363
+ "yaw": 0.5235987755982988
364
+ }
365
+ }
366
+ {
367
+ "action": {
368
+ "imageid": 28,
369
+ "pos": [
370
+ 74.45391754599879,
371
+ 109.80136277706163,
372
+ -21.653284594499528
373
+ ],
374
+ "type": "go straight",
375
+ "value": 3,
376
+ "yaw": 0.5235987755982988
377
+ }
378
+ }
379
+ {
380
+ "action": {
381
+ "imageid": 29,
382
+ "pos": [
383
+ 77.05199375735211,
384
+ 111.30136277706163,
385
+ -21.653284594499528
386
+ ],
387
+ "type": "go straight",
388
+ "value": 3,
389
+ "yaw": 0.5235987755982988
390
+ }
391
+ }
392
+ {
393
+ "action": {
394
+ "imageid": 30,
395
+ "pos": [
396
+ 79.65006996870542,
397
+ 112.80136277706163,
398
+ -21.653284594499528
399
+ ],
400
+ "type": "go straight",
401
+ "value": 3,
402
+ "yaw": 0.5235987755982988
403
+ }
404
+ }
405
+ {
406
+ "action": {
407
+ "imageid": 31,
408
+ "pos": [
409
+ 82.24814618005874,
410
+ 114.30136277706163,
411
+ -21.653284594499528
412
+ ],
413
+ "type": "go straight",
414
+ "value": 3,
415
+ "yaw": 0.5235987755982988
416
+ }
417
+ }
418
+ {
419
+ "action": {
420
+ "imageid": 32,
421
+ "pos": [
422
+ 84.84622239141206,
423
+ 115.80136277706163,
424
+ -21.653284594499528
425
+ ],
426
+ "type": "go straight",
427
+ "value": 3,
428
+ "yaw": 0.5235987755982988
429
+ }
430
+ }
431
+ {
432
+ "action": {
433
+ "imageid": 33,
434
+ "pos": [
435
+ 87.44429860276537,
436
+ 117.30136277706163,
437
+ -21.653284594499528
438
+ ],
439
+ "type": "go straight",
440
+ "value": 3,
441
+ "yaw": 0.5235987755982988
442
+ }
443
+ }
444
+ {
445
+ "action": {
446
+ "imageid": 34,
447
+ "pos": [
448
+ 90.04237481411869,
449
+ 118.80136277706163,
450
+ -21.653284594499528
451
+ ],
452
+ "type": "go straight",
453
+ "value": 3,
454
+ "yaw": 0.5235987755982988
455
+ }
456
+ }
457
+ {
458
+ "action": {
459
+ "imageid": 35,
460
+ "pos": [
461
+ 92.640451025472,
462
+ 120.30136277706163,
463
+ -21.653284594499528
464
+ ],
465
+ "type": "go straight",
466
+ "value": 3,
467
+ "yaw": 0.5235987755982988
468
+ }
469
+ }
470
+ {
471
+ "action": {
472
+ "imageid": 36,
473
+ "pos": [
474
+ 95.23852723682532,
475
+ 121.80136277706163,
476
+ -21.653284594499528
477
+ ],
478
+ "type": "go straight",
479
+ "value": 3,
480
+ "yaw": 0.5235987755982988
481
+ }
482
+ }
483
+ {
484
+ "action": {
485
+ "imageid": 37,
486
+ "pos": [
487
+ 97.83660344817864,
488
+ 123.30136277706163,
489
+ -21.653284594499528
490
+ ],
491
+ "type": "go straight",
492
+ "value": 3,
493
+ "yaw": 0.5235987755982988
494
+ }
495
+ }
496
+ {
497
+ "action": {
498
+ "imageid": 38,
499
+ "pos": [
500
+ 100.43467965953195,
501
+ 124.80136277706163,
502
+ -21.653284594499528
503
+ ],
504
+ "type": "go straight",
505
+ "value": 3,
506
+ "yaw": 0.5235987755982988
507
+ }
508
+ }
509
+ {
510
+ "action": {
511
+ "imageid": 39,
512
+ "pos": [
513
+ 103.03275587088527,
514
+ 126.30136277706163,
515
+ -21.653284594499528
516
+ ],
517
+ "type": "go straight",
518
+ "value": 3,
519
+ "yaw": 0.5235987755982988
520
+ }
521
+ }
522
+ {
523
+ "action": {
524
+ "imageid": 40,
525
+ "pos": [
526
+ 105.63083208223858,
527
+ 127.80136277706163,
528
+ -21.653284594499528
529
+ ],
530
+ "type": "go straight",
531
+ "value": 3,
532
+ "yaw": 0.5235987755982988
533
+ }
534
+ }
535
+ {
536
+ "action": {
537
+ "imageid": 41,
538
+ "pos": [
539
+ 108.2289082935919,
540
+ 129.30136277706163,
541
+ -21.653284594499528
542
+ ],
543
+ "type": "go straight",
544
+ "value": 3,
545
+ "yaw": 0.5235987755982988
546
+ }
547
+ }
548
+ {
549
+ "action": {
550
+ "imageid": 42,
551
+ "pos": [
552
+ 110.82698450494522,
553
+ 130.80136277706163,
554
+ -21.653284594499528
555
+ ],
556
+ "type": "go straight",
557
+ "value": 3,
558
+ "yaw": 0.5235987755982988
559
+ }
560
+ }
561
+ {
562
+ "action": {
563
+ "imageid": 43,
564
+ "pos": [
565
+ 113.42506071629853,
566
+ 132.30136277706163,
567
+ -21.653284594499528
568
+ ],
569
+ "type": "go straight",
570
+ "value": 3,
571
+ "yaw": 0.5235987755982988
572
+ }
573
+ }
574
+ {
575
+ "action": {
576
+ "imageid": 44,
577
+ "pos": [
578
+ 116.02313692765185,
579
+ 133.80136277706163,
580
+ -21.653284594499528
581
+ ],
582
+ "type": "go straight",
583
+ "value": 3,
584
+ "yaw": 0.5235987755982988
585
+ }
586
+ }
587
+ {
588
+ "action": {
589
+ "imageid": 45,
590
+ "pos": [
591
+ 118.62121313900516,
592
+ 135.30136277706163,
593
+ -21.653284594499528
594
+ ],
595
+ "type": "go straight",
596
+ "value": 3,
597
+ "yaw": 0.5235987755982988
598
+ }
599
+ }
600
+ {
601
+ "action": {
602
+ "imageid": 46,
603
+ "pos": [
604
+ 121.21928935035848,
605
+ 136.80136277706163,
606
+ -21.653284594499528
607
+ ],
608
+ "type": "go straight",
609
+ "value": 3,
610
+ "yaw": 0.5235987755982988
611
+ }
612
+ }
613
+ {
614
+ "action": {
615
+ "imageid": 47,
616
+ "pos": [
617
+ 123.8173655617118,
618
+ 138.30136277706163,
619
+ -21.653284594499528
620
+ ],
621
+ "type": "stop",
622
+ "value": 0,
623
+ "yaw": 0.5235987755982988
624
+ }
625
+ }
626
+ {
627
+ "aim_landmark": {
628
+ "color": "test",
629
+ "feature": "test",
630
+ "position": [
631
+ 126.12591409683228,
632
+ 137.03480195999146,
633
+ 0.0
634
+ ],
635
+ "shape": "test",
636
+ "size": "test",
637
+ "type": "building"
638
+ }
639
+ }
Image/env_gs_nwpu01/astar_data/long/2025-1-13_15-55-53_1704365084/pose.jsonl ADDED
@@ -0,0 +1,509 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -304.59305444024,
6
+ 78.17008439717002,
7
+ -19.319936595063787
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 2.0943951023931953
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -306.09305444024,
19
+ 80.76816060852333,
20
+ -19.319936595063787
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 2.0943951023931953
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -307.59305444024,
32
+ 83.36623681987665,
33
+ -19.319936595063787
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 2.0943951023931953
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -309.09305444024,
45
+ 85.96431303122996,
46
+ -19.319936595063787
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 2.0943951023931953
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -310.59305444024,
58
+ 88.56238924258328,
59
+ -19.319936595063787
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 2.0943951023931953
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -312.09305444024,
71
+ 91.1604654539366,
72
+ -19.319936595063787
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 2.0943951023931953
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -313.59305444024,
84
+ 93.75854166528991,
85
+ -19.319936595063787
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 2.0943951023931953
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -315.09305444024,
97
+ 96.35661787664323,
98
+ -19.319936595063787
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 2.0943951023931953
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -316.59305444024,
110
+ 98.95469408799654,
111
+ -19.319936595063787
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 2.0943951023931953
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -318.09305444024,
123
+ 101.55277029934986,
124
+ -19.319936595063787
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 2.0943951023931953
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -319.59305444024,
136
+ 104.15084651070318,
137
+ -19.319936595063787
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 2.0943951023931953
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -321.09305444024,
149
+ 106.74892272205649,
150
+ -19.319936595063787
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 2.0943951023931953
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -322.59305444024,
162
+ 109.34699893340981,
163
+ -19.319936595063787
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 2.0943951023931953
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -324.09305444024,
175
+ 111.94507514476312,
176
+ -19.319936595063787
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 2.0943951023931953
181
+ }
182
+ }
183
+ {
184
+ "aim_landmark": {
185
+ "color": "test",
186
+ "feature": "test",
187
+ "position": [
188
+ -332.4228313446045,
189
+ 133.30773601531982,
190
+ 0.0
191
+ ],
192
+ "shape": "test",
193
+ "size": "test",
194
+ "type": "building"
195
+ }
196
+ }
197
+ {
198
+ "action": {
199
+ "imageid": 15,
200
+ "pos": [
201
+ -325.59305444024,
202
+ 114.54315135611644,
203
+ -19.319936595063787
204
+ ],
205
+ "type": "turn right",
206
+ "value": 30,
207
+ "yaw": 2.0943951023931953
208
+ }
209
+ }
210
+ {
211
+ "action": {
212
+ "imageid": 16,
213
+ "pos": [
214
+ -325.59305444024,
215
+ 114.54315135611644,
216
+ -19.319936595063787
217
+ ],
218
+ "type": "turn right",
219
+ "value": 30,
220
+ "yaw": 1.5707963267948966
221
+ }
222
+ }
223
+ {
224
+ "action": {
225
+ "imageid": 17,
226
+ "pos": [
227
+ -325.59305444024,
228
+ 114.54315135611644,
229
+ -19.319936595063787
230
+ ],
231
+ "type": "turn right",
232
+ "value": 30,
233
+ "yaw": 1.0471975511965976
234
+ }
235
+ }
236
+ {
237
+ "action": {
238
+ "imageid": 18,
239
+ "pos": [
240
+ -325.59305444024,
241
+ 114.54315135611644,
242
+ -19.319936595063787
243
+ ],
244
+ "type": "turn right",
245
+ "value": 30,
246
+ "yaw": 0.5235987755982987
247
+ }
248
+ }
249
+ {
250
+ "action": {
251
+ "imageid": 19,
252
+ "pos": [
253
+ -325.59305444024,
254
+ 114.54315135611644,
255
+ -19.319936595063787
256
+ ],
257
+ "type": "turn right",
258
+ "value": 30,
259
+ "yaw": 0.0
260
+ }
261
+ }
262
+ {
263
+ "action": {
264
+ "imageid": 20,
265
+ "pos": [
266
+ -325.59305444024,
267
+ 114.54315135611644,
268
+ -19.319936595063787
269
+ ],
270
+ "type": "go straight",
271
+ "value": 3,
272
+ "yaw": 0.0
273
+ }
274
+ }
275
+ {
276
+ "action": {
277
+ "imageid": 21,
278
+ "pos": [
279
+ -322.59305444024,
280
+ 114.54315135611644,
281
+ -19.319936595063787
282
+ ],
283
+ "type": "go straight",
284
+ "value": 3,
285
+ "yaw": 0.0
286
+ }
287
+ }
288
+ {
289
+ "action": {
290
+ "imageid": 22,
291
+ "pos": [
292
+ -319.59305444024,
293
+ 114.54315135611644,
294
+ -19.319936595063787
295
+ ],
296
+ "type": "go straight",
297
+ "value": 3,
298
+ "yaw": 0.0
299
+ }
300
+ }
301
+ {
302
+ "action": {
303
+ "imageid": 23,
304
+ "pos": [
305
+ -316.59305444024,
306
+ 114.54315135611644,
307
+ -19.319936595063787
308
+ ],
309
+ "type": "go straight",
310
+ "value": 3,
311
+ "yaw": 0.0
312
+ }
313
+ }
314
+ {
315
+ "action": {
316
+ "imageid": 24,
317
+ "pos": [
318
+ -313.59305444024,
319
+ 114.54315135611644,
320
+ -19.319936595063787
321
+ ],
322
+ "type": "go straight",
323
+ "value": 3,
324
+ "yaw": 0.0
325
+ }
326
+ }
327
+ {
328
+ "action": {
329
+ "imageid": 25,
330
+ "pos": [
331
+ -310.59305444024,
332
+ 114.54315135611644,
333
+ -19.319936595063787
334
+ ],
335
+ "type": "go straight",
336
+ "value": 3,
337
+ "yaw": 0.0
338
+ }
339
+ }
340
+ {
341
+ "action": {
342
+ "imageid": 26,
343
+ "pos": [
344
+ -307.59305444024,
345
+ 114.54315135611644,
346
+ -19.319936595063787
347
+ ],
348
+ "type": "go straight",
349
+ "value": 3,
350
+ "yaw": 0.0
351
+ }
352
+ }
353
+ {
354
+ "action": {
355
+ "imageid": 27,
356
+ "pos": [
357
+ -304.59305444024,
358
+ 114.54315135611644,
359
+ -19.319936595063787
360
+ ],
361
+ "type": "go straight",
362
+ "value": 3,
363
+ "yaw": 0.0
364
+ }
365
+ }
366
+ {
367
+ "action": {
368
+ "imageid": 28,
369
+ "pos": [
370
+ -301.59305444024,
371
+ 114.54315135611644,
372
+ -19.319936595063787
373
+ ],
374
+ "type": "go straight",
375
+ "value": 3,
376
+ "yaw": 0.0
377
+ }
378
+ }
379
+ {
380
+ "action": {
381
+ "imageid": 29,
382
+ "pos": [
383
+ -298.59305444024,
384
+ 114.54315135611644,
385
+ -19.319936595063787
386
+ ],
387
+ "type": "go straight",
388
+ "value": 3,
389
+ "yaw": 0.0
390
+ }
391
+ }
392
+ {
393
+ "action": {
394
+ "imageid": 30,
395
+ "pos": [
396
+ -295.59305444024,
397
+ 114.54315135611644,
398
+ -19.319936595063787
399
+ ],
400
+ "type": "turn left",
401
+ "value": 30,
402
+ "yaw": 0.0
403
+ }
404
+ }
405
+ {
406
+ "action": {
407
+ "imageid": 31,
408
+ "pos": [
409
+ -295.59305444024,
410
+ 114.54315135611644,
411
+ -19.319936595063787
412
+ ],
413
+ "type": "go straight",
414
+ "value": 3,
415
+ "yaw": 0.5235987755982988
416
+ }
417
+ }
418
+ {
419
+ "action": {
420
+ "imageid": 32,
421
+ "pos": [
422
+ -292.9949782288867,
423
+ 116.04315135611644,
424
+ -19.319936595063787
425
+ ],
426
+ "type": "go straight",
427
+ "value": 3,
428
+ "yaw": 0.5235987755982988
429
+ }
430
+ }
431
+ {
432
+ "action": {
433
+ "imageid": 33,
434
+ "pos": [
435
+ -290.39690201753336,
436
+ 117.54315135611644,
437
+ -19.319936595063787
438
+ ],
439
+ "type": "go straight",
440
+ "value": 3,
441
+ "yaw": 0.5235987755982988
442
+ }
443
+ }
444
+ {
445
+ "action": {
446
+ "imageid": 34,
447
+ "pos": [
448
+ -287.79882580618005,
449
+ 119.04315135611644,
450
+ -19.319936595063787
451
+ ],
452
+ "type": "go straight",
453
+ "value": 3,
454
+ "yaw": 0.5235987755982988
455
+ }
456
+ }
457
+ {
458
+ "action": {
459
+ "imageid": 35,
460
+ "pos": [
461
+ -285.20074959482673,
462
+ 120.54315135611644,
463
+ -19.319936595063787
464
+ ],
465
+ "type": "go straight",
466
+ "value": 3,
467
+ "yaw": 0.5235987755982988
468
+ }
469
+ }
470
+ {
471
+ "action": {
472
+ "imageid": 36,
473
+ "pos": [
474
+ -282.6026733834734,
475
+ 122.04315135611644,
476
+ -19.319936595063787
477
+ ],
478
+ "type": "go straight",
479
+ "value": 3,
480
+ "yaw": 0.5235987755982988
481
+ }
482
+ }
483
+ {
484
+ "action": {
485
+ "imageid": 37,
486
+ "pos": [
487
+ -280.0045971721201,
488
+ 123.54315135611644,
489
+ -19.319936595063787
490
+ ],
491
+ "type": "stop",
492
+ "value": 0,
493
+ "yaw": 0.5235987755982988
494
+ }
495
+ }
496
+ {
497
+ "aim_landmark": {
498
+ "color": "test",
499
+ "feature": "test",
500
+ "position": [
501
+ -278.29589424133303,
502
+ 125.47306270599366,
503
+ 0.0
504
+ ],
505
+ "shape": "test",
506
+ "size": "test",
507
+ "type": "building"
508
+ }
509
+ }