Add files using upload-large-folder tool

Image/env_gs_nwpu01/astar_data/long/2025-1-13_12-30-52_1365180540/pose.jsonl

@@ -0,0 +1,691 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -153.72844679031914,
+            189.33228761498316,
+            -11.044184621089457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -152.22844679031914,
+            186.73421140362984,
+            -11.044184621089457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -150.72844679031914,
+            184.13613519227653,
+            -11.044184621089457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -149.22844679031914,
+            181.5380589809232,
+            -11.044184621089457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -147.72844679031914,
+            178.9399827695699,
+            -11.044184621089457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -146.22844679031914,
+            176.34190655821658,
+            -11.044184621089457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -144.72844679031914,
+            173.74383034686326,
+            -11.044184621089457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -143.22844679031914,
+            171.14575413550995,
+            -11.044184621089457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -141.72844679031914,
+            168.54767792415663,
+            -11.044184621089457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -140.22844679031914,
+            165.94960171280331,
+            -11.044184621089457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -138.72844679031914,
+            163.35152550145,
+            -11.044184621089457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -137.22844679031914,
+            160.75344929009668,
+            -11.044184621089457
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -137.22844679031914,
+            160.75344929009668,
+            -11.044184621089457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -134.63037057896582,
+            159.25344929009668,
+            -11.044184621089457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -132.0322943676125,
+            157.75344929009668,
+            -11.044184621089457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -129.4342181562592,
+            156.25344929009668,
+            -11.044184621089457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -126.83614194490588,
+            154.75344929009668,
+            -11.044184621089457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -124.23806573355256,
+            153.25344929009668,
+            -11.044184621089457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -121.63998952219924,
+            151.75344929009668,
+            -11.044184621089457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -119.04191331084593,
+            150.25344929009668,
+            -11.044184621089457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -116.44383709949261,
+            148.75344929009668,
+            -11.044184621089457
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -116.44383709949261,
+            148.75344929009668,
+            -11.044184621089457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -114.94383709949261,
+            146.15537307874337,
+            -11.044184621089457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -113.44383709949261,
+            143.55729686739005,
+            -11.044184621089457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -111.88605213165283,
+            139.68146867752077,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -111.94383709949261,
+            140.95922065603673,
+            -11.044184621089457
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -111.94383709949261,
+            140.95922065603673,
+            -11.044184621089457
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -111.94383709949261,
+            140.95922065603673,
+            -11.044184621089457
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.220446049250313e-16
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -111.94383709949261,
+            140.95922065603673,
+            -11.044184621089457
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982987
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -111.94383709949261,
+            140.95922065603673,
+            -11.044184621089457
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965974
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -111.94383709949261,
+            140.95922065603673,
+            -11.044184621089457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -110.44383709949261,
+            143.55729686739005,
+            -11.044184621089457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -108.94383709949261,
+            146.15537307874337,
+            -11.044184621089457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -107.44383709949261,
+            148.75344929009668,
+            -11.044184621089457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -105.94383709949261,
+            151.35152550145,
+            -11.044184621089457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -104.44383709949261,
+            153.94960171280331,
+            -11.044184621089457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -102.94383709949261,
+            156.54767792415663,
+            -11.044184621089457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -101.44383709949261,
+            159.14575413550995,
+            -11.044184621089457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -99.94383709949261,
+            161.74383034686326,
+            -11.044184621089457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -98.44383709949261,
+            164.34190655821658,
+            -11.044184621089457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -96.94383709949261,
+            166.9399827695699,
+            -11.044184621089457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -95.44383709949261,
+            169.5380589809232,
+            -11.044184621089457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -93.94383709949261,
+            172.13613519227653,
+            -11.044184621089457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -92.44383709949261,
+            174.73421140362984,
+            -11.044184621089457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -90.94383709949261,
+            177.33228761498316,
+            -11.044184621089457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -89.44383709949261,
+            179.93036382633647,
+            -11.044184621089457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -87.94383709949261,
+            182.5284400376898,
+            -11.044184621089457
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -87.94383709949261,
+            182.5284400376898,
+            -11.044184621089457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -85.3457608881393,
+            184.0284400376898,
+            -11.044184621089457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -82.74768467678598,
+            185.5284400376898,
+            -11.044184621089457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -80.14960846543266,
+            187.0284400376898,
+            -11.044184621089457
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -77.55153225407935,
+            188.5284400376898,
+            -11.044184621089457
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -75.5195812702179,
+            191.94742860794068,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_gs_nwpu01/astar_data/long/2025-1-13_12-40-51_628175011/pose.jsonl

@@ -0,0 +1,704 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            147.31493557810776,
+            19.032783528971628,
+            -10.909150175509748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            148.81493557810776,
+            21.630859740324944,
+            -10.909150175509748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            150.31493557810776,
+            24.22893595167826,
+            -10.909150175509748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            151.81493557810776,
+            26.827012163031576,
+            -10.909150175509748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            153.31493557810776,
+            29.42508837438489,
+            -10.909150175509748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            154.81493557810776,
+            32.02316458573821,
+            -10.909150175509748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            156.31493557810776,
+            34.621240797091524,
+            -10.909150175509748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            157.81493557810776,
+            37.21931700844484,
+            -10.909150175509748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            159.31493557810776,
+            39.817393219798156,
+            -10.909150175509748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            160.81493557810776,
+            42.41546943115147,
+            -10.909150175509748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            162.31493557810776,
+            45.01354564250479,
+            -10.909150175509748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            163.81493557810776,
+            47.611621853858104,
+            -10.909150175509748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            165.31493557810776,
+            50.20969806521142,
+            -10.909150175509748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            166.81493557810776,
+            52.807774276564736,
+            -10.909150175509748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            168.31493557810776,
+            55.40585048791805,
+            -10.909150175509748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            169.81493557810776,
+            58.00392669927137,
+            -10.909150175509748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            171.31493557810776,
+            60.602002910624684,
+            -10.909150175509748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            172.81493557810776,
+            63.200079121978,
+            -10.909150175509748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            174.31493557810776,
+            65.79815533333132,
+            -10.909150175509748
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.047197551196599
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            174.31493557810776,
+            65.79815533333132,
+            -10.909150175509748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983001
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            176.91301178946108,
+            67.29815533333132,
+            -10.909150175509748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            179.5110880008144,
+            68.79815533333132,
+            -10.909150175509748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            184.7513246536255,
+            73.33496251106263,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            182.1091642121677,
+            70.29815533333132,
+            -10.909150175509748
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            182.1091642121677,
+            70.29815533333132,
+            -10.909150175509748
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            182.1091642121677,
+            70.29815533333132,
+            -10.909150175509748
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            182.1091642121677,
+            70.29815533333132,
+            -10.909150175509748
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            182.1091642121677,
+            70.29815533333132,
+            -10.909150175509748
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            182.1091642121677,
+            70.29815533333132,
+            -10.909150175509748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            182.1091642121677,
+            67.29815533333132,
+            -10.909150175509748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            182.1091642121677,
+            64.29815533333132,
+            -10.909150175509748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            182.1091642121677,
+            61.29815533333132,
+            -10.909150175509748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            182.1091642121677,
+            58.29815533333132,
+            -10.909150175509748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            182.1091642121677,
+            55.29815533333132,
+            -10.909150175509748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            182.1091642121677,
+            52.29815533333132,
+            -10.909150175509748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            182.1091642121677,
+            49.29815533333132,
+            -10.909150175509748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            182.1091642121677,
+            46.29815533333132,
+            -10.909150175509748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            182.1091642121677,
+            43.29815533333132,
+            -10.909150175509748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            182.1091642121677,
+            40.29815533333132,
+            -10.909150175509748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            182.1091642121677,
+            37.29815533333132,
+            -10.909150175509748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            182.1091642121677,
+            34.29815533333132,
+            -10.909150175509748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            182.1091642121677,
+            31.298155333331323,
+            -10.909150175509748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            182.1091642121677,
+            28.298155333331323,
+            -10.909150175509748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            182.1091642121677,
+            25.298155333331323,
+            -10.909150175509748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            182.1091642121677,
+            22.298155333331323,
+            -10.909150175509748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            182.1091642121677,
+            19.298155333331323,
+            -10.909150175509748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            182.1091642121677,
+            16.298155333331323,
+            -10.909150175509748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            182.1091642121677,
+            13.298155333331323,
+            -10.909150175509748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            182.1091642121677,
+            10.298155333331323,
+            -10.909150175509748
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            182.1091642121677,
+            10.298155333331323,
+            -10.909150175509748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            183.6091642121677,
+            7.700079121978007,
+            -10.909150175509748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            185.1091642121677,
+            5.102002910624691,
+            -10.909150175509748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            186.6091642121677,
+            2.503926699271375,
+            -10.909150175509748
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            187.6693754196167,
+            2.2071708753705024,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_gs_nwpu01/astar_data/long/2025-1-13_13-0-26_356426808/pose.jsonl

@@ -0,0 +1,678 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -331.04281286604447,
+            248.22406208467243,
+            -8.404617599952138
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -334.04281286604447,
+            248.22406208467243,
+            -8.404617599952138
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -337.04281286604447,
+            248.22406208467243,
+            -8.404617599952138
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -340.04281286604447,
+            248.22406208467243,
+            -8.404617599952138
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -343.04281286604447,
+            248.22406208467243,
+            -8.404617599952138
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -346.04281286604447,
+            248.22406208467243,
+            -8.404617599952138
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -349.04281286604447,
+            248.22406208467243,
+            -8.404617599952138
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -352.04281286604447,
+            248.22406208467243,
+            -8.404617599952138
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -355.04281286604447,
+            248.22406208467243,
+            -8.404617599952138
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -358.04281286604447,
+            248.22406208467243,
+            -8.404617599952138
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -358.04281286604447,
+            248.22406208467243,
+            -8.404617599952138
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -360.6408890773978,
+            249.72406208467243,
+            -8.404617599952138
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -363.2389652887511,
+            251.22406208467243,
+            -8.404617599952138
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -365.8370415001044,
+            252.72406208467243,
+            -8.404617599952138
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -368.43511771145774,
+            254.22406208467243,
+            -8.404617599952138
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -371.03319392281105,
+            255.72406208467243,
+            -8.404617599952138
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -373.63127013416437,
+            257.2240620846724,
+            -8.404617599952138
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -376.2293463455177,
+            258.7240620846724,
+            -8.404617599952138
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -378.827422556871,
+            260.2240620846724,
+            -8.404617599952138
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -382.8172357559204,
+            262.51546230316166,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -381.4254987682243,
+            261.7240620846724,
+            -8.404617599952138
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -381.4254987682243,
+            261.7240620846724,
+            -8.404617599952138
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -381.4254987682243,
+            261.7240620846724,
+            -8.404617599952138
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948968
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -381.4254987682243,
+            261.7240620846724,
+            -8.404617599952138
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -381.4254987682243,
+            261.7240620846724,
+            -8.404617599952138
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982991
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -381.4254987682243,
+            261.7240620846724,
+            -8.404617599952138
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -378.827422556871,
+            263.2240620846724,
+            -8.404617599952138
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -378.827422556871,
+            263.2240620846724,
+            -8.404617599952138
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -377.327422556871,
+            265.82213829602574,
+            -8.404617599952138
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -375.827422556871,
+            268.42021450737906,
+            -8.404617599952138
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -375.827422556871,
+            268.42021450737906,
+            -8.404617599952138
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -373.2293463455177,
+            269.92021450737906,
+            -8.404617599952138
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -370.63127013416437,
+            271.42021450737906,
+            -8.404617599952138
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -368.03319392281105,
+            272.92021450737906,
+            -8.404617599952138
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -365.43511771145774,
+            274.42021450737906,
+            -8.404617599952138
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -362.8370415001044,
+            275.92021450737906,
+            -8.404617599952138
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -360.2389652887511,
+            277.42021450737906,
+            -8.404617599952138
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -357.6408890773978,
+            278.92021450737906,
+            -8.404617599952138
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -355.04281286604447,
+            280.42021450737906,
+            -8.404617599952138
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -352.44473665469116,
+            281.92021450737906,
+            -8.404617599952138
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -349.84666044333784,
+            283.42021450737906,
+            -8.404617599952138
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -347.2485842319845,
+            284.92021450737906,
+            -8.404617599952138
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -344.6505080206312,
+            286.42021450737906,
+            -8.404617599952138
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -342.0524318092779,
+            287.92021450737906,
+            -8.404617599952138
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -339.4543555979246,
+            289.42021450737906,
+            -8.404617599952138
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -336.85627938657126,
+            290.92021450737906,
+            -8.404617599952138
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -334.25820317521794,
+            292.42021450737906,
+            -8.404617599952138
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -331.6601269638646,
+            293.92021450737906,
+            -8.404617599952138
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -329.0620507525113,
+            295.42021450737906,
+            -8.404617599952138
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -326.463974541158,
+            296.92021450737906,
+            -8.404617599952138
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -323.8658983298047,
+            298.42021450737906,
+            -8.404617599952138
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -321.15925178527834,
+            299.0595897674561,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_gs_nwpu01/astar_data/long/2025-1-13_13-12-20_927612902/pose.jsonl

@@ -0,0 +1,626 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -38.8586102817407,
+            112.80159136962912,
+            -10.538410879662688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -41.45668649309402,
+            114.30159136962912,
+            -10.538410879662688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -44.054762704447334,
+            115.80159136962912,
+            -10.538410879662688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -46.65283891580065,
+            117.30159136962912,
+            -10.538410879662688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -49.25091512715397,
+            118.80159136962912,
+            -10.538410879662688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -51.84899133850728,
+            120.30159136962912,
+            -10.538410879662688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -54.4470675498606,
+            121.80159136962912,
+            -10.538410879662688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -57.045143761213915,
+            123.30159136962912,
+            -10.538410879662688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -59.64321997256723,
+            124.80159136962912,
+            -10.538410879662688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -62.24129618392055,
+            126.30159136962912,
+            -10.538410879662688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -64.83937239527387,
+            127.80159136962912,
+            -10.538410879662688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914957
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -67.43744860662719,
+            129.3015913696291,
+            -10.538410879662688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914984
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -70.0355248179805,
+            130.8015913696291,
+            -10.538410879662688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -72.63360102933382,
+            132.3015913696291,
+            -10.538410879662688
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -72.63360102933382,
+            132.3015913696291,
+            -10.538410879662688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -75.63360102933382,
+            132.3015913696291,
+            -10.538410879662688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -78.63360102933382,
+            132.3015913696291,
+            -10.538410879662688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -81.63360102933382,
+            132.3015913696291,
+            -10.538410879662688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -84.63360102933382,
+            132.3015913696291,
+            -10.538410879662688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -87.63360102933382,
+            132.3015913696291,
+            -10.538410879662688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -92.16819229125977,
+            132.53853549957276,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -90.63360102933382,
+            132.3015913696291,
+            -10.538410879662688
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -90.63360102933382,
+            132.3015913696291,
+            -10.538410879662688
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -90.63360102933382,
+            132.3015913696291,
+            -10.538410879662688
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -90.63360102933382,
+            132.3015913696291,
+            -10.538410879662688
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -90.63360102933382,
+            132.3015913696291,
+            -10.538410879662688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -90.63360102933382,
+            135.3015913696291,
+            -10.538410879662688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -90.63360102933382,
+            138.3015913696291,
+            -10.538410879662688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -90.63360102933382,
+            141.3015913696291,
+            -10.538410879662688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -90.63360102933382,
+            144.3015913696291,
+            -10.538410879662688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -90.63360102933382,
+            147.3015913696291,
+            -10.538410879662688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -90.63360102933382,
+            150.3015913696291,
+            -10.538410879662688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -90.63360102933382,
+            153.3015913696291,
+            -10.538410879662688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -90.63360102933382,
+            156.3015913696291,
+            -10.538410879662688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -90.63360102933382,
+            159.3015913696291,
+            -10.538410879662688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -90.63360102933382,
+            162.3015913696291,
+            -10.538410879662688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -90.63360102933382,
+            165.3015913696291,
+            -10.538410879662688
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -90.63360102933382,
+            165.3015913696291,
+            -10.538410879662688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -89.13360102933382,
+            167.89966758098242,
+            -10.538410879662688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -87.63360102933382,
+            170.49774379233574,
+            -10.538410879662688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -86.13360102933382,
+            173.09582000368906,
+            -10.538410879662688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -84.63360102933382,
+            175.69389621504237,
+            -10.538410879662688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -83.13360102933382,
+            178.2919724263957,
+            -10.538410879662688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -81.63360102933382,
+            180.890048637749,
+            -10.538410879662688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -80.13360102933382,
+            183.48812484910232,
+            -10.538410879662688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -78.63360102933382,
+            186.08620106045564,
+            -10.538410879662688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -77.13360102933382,
+            188.68427727180895,
+            -10.538410879662688
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -75.5195812702179,
+            191.94742860794068,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_gs_nwpu01/astar_data/long/2025-1-13_13-24-9_524872353/pose.jsonl

@@ -0,0 +1,704 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -270.60931291666367,
+            356.0300847348656,
+            -7.970094237288912
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -272.10931291666367,
+            353.4320085235123,
+            -7.970094237288912
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -273.60931291666367,
+            350.833932312159,
+            -7.970094237288912
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -275.10931291666367,
+            348.2358561008057,
+            -7.970094237288912
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -276.60931291666367,
+            345.63777988945236,
+            -7.970094237288912
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -278.10931291666367,
+            343.03970367809904,
+            -7.970094237288912
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -279.60931291666367,
+            340.44162746674573,
+            -7.970094237288912
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -281.10931291666367,
+            337.8435512553924,
+            -7.970094237288912
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -282.60931291666367,
+            335.2454750440391,
+            -7.970094237288912
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -284.10931291666367,
+            332.6473988326858,
+            -7.970094237288912
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -285.60931291666367,
+            330.04932262133246,
+            -7.970094237288912
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -287.10931291666367,
+            327.45124640997915,
+            -7.970094237288912
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -288.60931291666367,
+            324.85317019862583,
+            -7.970094237288912
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -290.10931291666367,
+            322.2550939872725,
+            -7.970094237288912
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -291.60931291666367,
+            319.6570177759192,
+            -7.970094237288912
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -293.10931291666367,
+            317.0589415645659,
+            -7.970094237288912
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -294.60931291666367,
+            314.46086535321257,
+            -7.970094237288912
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -296.10931291666367,
+            311.86278914185925,
+            -7.970094237288912
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -296.10931291666367,
+            311.86278914185925,
+            -7.970094237288912
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -298.707389128017,
+            310.36278914185925,
+            -7.970094237288912
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -303.76718215942384,
+            307.45265769958496,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -301.3054653393703,
+            308.86278914185925,
+            -7.970094237288912
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -301.3054653393703,
+            308.86278914185925,
+            -7.970094237288912
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -301.3054653393703,
+            308.86278914185925,
+            -7.970094237288912
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948968
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -301.3054653393703,
+            308.86278914185925,
+            -7.970094237288912
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -301.3054653393703,
+            308.86278914185925,
+            -7.970094237288912
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.5235987755982991
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -301.3054653393703,
+            308.86278914185925,
+            -7.970094237288912
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -4.440892098500626e-16
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -301.3054653393703,
+            308.86278914185925,
+            -7.970094237288912
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -298.3054653393703,
+            308.86278914185925,
+            -7.970094237288912
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -295.3054653393703,
+            308.86278914185925,
+            -7.970094237288912
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -292.3054653393703,
+            308.86278914185925,
+            -7.970094237288912
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -292.3054653393703,
+            308.86278914185925,
+            -7.970094237288912
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -289.707389128017,
+            307.36278914185925,
+            -7.970094237288912
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -287.10931291666367,
+            305.86278914185925,
+            -7.970094237288912
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -284.51123670531035,
+            304.36278914185925,
+            -7.970094237288912
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -281.91316049395704,
+            302.86278914185925,
+            -7.970094237288912
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -279.3150842826037,
+            301.36278914185925,
+            -7.970094237288912
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -276.7170080712504,
+            299.86278914185925,
+            -7.970094237288912
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -274.1189318598971,
+            298.36278914185925,
+            -7.970094237288912
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -271.5208556485438,
+            296.86278914185925,
+            -7.970094237288912
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -268.92277943719046,
+            295.36278914185925,
+            -7.970094237288912
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -266.32470322583714,
+            293.86278914185925,
+            -7.970094237288912
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -263.7266270144838,
+            292.36278914185925,
+            -7.970094237288912
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -261.1285508031305,
+            290.86278914185925,
+            -7.970094237288912
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -258.5304745917772,
+            289.36278914185925,
+            -7.970094237288912
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -255.93239838042388,
+            287.86278914185925,
+            -7.970094237288912
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -253.33432216907056,
+            286.36278914185925,
+            -7.970094237288912
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -250.73624595771724,
+            284.86278914185925,
+            -7.970094237288912
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -248.13816974636393,
+            283.36278914185925,
+            -7.970094237288912
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -245.5400935350106,
+            281.86278914185925,
+            -7.970094237288912
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -242.9420173236573,
+            280.36278914185925,
+            -7.970094237288912
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -240.34394111230398,
+            278.86278914185925,
+            -7.970094237288912
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -237.74586490095066,
+            277.36278914185925,
+            -7.970094237288912
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -236.15102710723878,
+            277.2074661254883,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_gs_nwpu01/astar_data/long/2025-1-13_13-32-51_200747796/pose.jsonl

@@ -0,0 +1,743 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1.1728932285416995,
+            -70.52604668771333,
+            -5.353356575408117
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            2.6728932285417,
+            -67.92797047636002,
+            -5.353356575408117
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            4.1728932285417,
+            -65.3298942650067,
+            -5.353356575408117
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            5.672893228541701,
+            -62.731818053653384,
+            -5.353356575408117
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965974
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            7.172893228541701,
+            -60.13374184230007,
+            -5.353356575408117
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            8.672893228541701,
+            -57.53566563094675,
+            -5.353356575408117
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            10.172893228541701,
+            -54.937589419593436,
+            -5.353356575408117
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            11.672893228541701,
+            -52.33951320824012,
+            -5.353356575408117
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            13.172893228541701,
+            -49.741436996886804,
+            -5.353356575408117
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            14.672893228541701,
+            -47.14336078553349,
+            -5.353356575408117
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            16.172893228541703,
+            -44.54528457418017,
+            -5.353356575408117
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965972
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            17.672893228541703,
+            -41.947208362826856,
+            -5.353356575408117
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            19.172893228541703,
+            -39.34913215147354,
+            -5.353356575408117
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            19.172893228541703,
+            -39.34913215147354,
+            -5.353356575408117
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            19.172893228541703,
+            -36.34913215147354,
+            -5.353356575408117
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            19.172893228541703,
+            -33.34913215147354,
+            -5.353356575408117
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            19.172893228541703,
+            -30.34913215147354,
+            -5.353356575408117
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            19.172893228541703,
+            -27.34913215147354,
+            -5.353356575408117
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            19.172893228541703,
+            -24.34913215147354,
+            -5.353356575408117
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            19.172893228541703,
+            -21.34913215147354,
+            -5.353356575408117
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            19.172893228541703,
+            -18.34913215147354,
+            -5.353356575408117
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            19.172893228541703,
+            -15.34913215147354,
+            -5.353356575408117
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            19.172893228541703,
+            -12.34913215147354,
+            -5.353356575408117
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            20.778573703765872,
+            -6.891405725479126,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            19.172893228541703,
+            -9.34913215147354,
+            -5.353356575408117
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            19.172893228541703,
+            -9.34913215147354,
+            -5.353356575408117
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            19.172893228541703,
+            -9.34913215147354,
+            -5.353356575408117
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982989
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            19.172893228541703,
+            -9.34913215147354,
+            -5.353356575408117
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            19.172893228541703,
+            -9.34913215147354,
+            -5.353356575408117
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            22.172893228541703,
+            -9.34913215147354,
+            -5.353356575408117
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            25.172893228541703,
+            -9.34913215147354,
+            -5.353356575408117
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            28.172893228541703,
+            -9.34913215147354,
+            -5.353356575408117
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            31.172893228541703,
+            -9.34913215147354,
+            -5.353356575408117
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            34.1728932285417,
+            -9.34913215147354,
+            -5.353356575408117
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            37.1728932285417,
+            -9.34913215147354,
+            -5.353356575408117
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            40.1728932285417,
+            -9.34913215147354,
+            -5.353356575408117
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            43.1728932285417,
+            -9.34913215147354,
+            -5.353356575408117
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            43.1728932285417,
+            -9.34913215147354,
+            -5.353356575408117
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            45.77096943989502,
+            -10.84913215147354,
+            -5.353356575408117
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            48.369045651248335,
+            -12.34913215147354,
+            -5.353356575408117
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            50.96712186260165,
+            -13.84913215147354,
+            -5.353356575408117
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            53.56519807395497,
+            -15.34913215147354,
+            -5.353356575408117
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            56.16327428530828,
+            -16.84913215147354,
+            -5.353356575408117
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            58.7613504966616,
+            -18.34913215147354,
+            -5.353356575408117
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            61.359426708014915,
+            -19.84913215147354,
+            -5.353356575408117
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            63.95750291936823,
+            -21.34913215147354,
+            -5.353356575408117
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            66.55557913072155,
+            -22.84913215147354,
+            -5.353356575408117
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982977
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            69.15365534207487,
+            -24.34913215147354,
+            -5.353356575408117
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            71.75173155342819,
+            -25.84913215147354,
+            -5.353356575408117
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            74.3498077647815,
+            -27.34913215147354,
+            -5.353356575408117
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            76.94788397613482,
+            -28.84913215147354,
+            -5.353356575408117
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            79.54596018748813,
+            -30.34913215147354,
+            -5.353356575408117
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            82.14403639884145,
+            -31.84913215147354,
+            -5.353356575408117
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            84.74211261019477,
+            -33.34913215147354,
+            -5.353356575408117
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            87.34018882154808,
+            -34.84913215147354,
+            -5.353356575408117
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            89.9382650329014,
+            -36.34913215147354,
+            -5.353356575408117
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            90.69617862701416,
+            -39.65713562965393,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_gs_nwpu01/astar_data/long/2025-1-13_13-55-23_1801979802/pose.jsonl

@@ -0,0 +1,743 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -124.70877099378978,
+            267.4156519162592,
+            -15.659792470568517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -122.11069478243647,
+            265.9156519162592,
+            -15.659792470568517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -119.51261857108315,
+            264.4156519162592,
+            -15.659792470568517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -116.91454235972984,
+            262.9156519162592,
+            -15.659792470568517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -114.31646614837652,
+            261.4156519162592,
+            -15.659792470568517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -111.7183899370232,
+            259.9156519162592,
+            -15.659792470568517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -109.12031372566989,
+            258.4156519162592,
+            -15.659792470568517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -106.52223751431657,
+            256.9156519162592,
+            -15.659792470568517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -103.92416130296326,
+            255.4156519162592,
+            -15.659792470568517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -101.32608509160994,
+            253.9156519162592,
+            -15.659792470568517
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -101.32608509160994,
+            253.9156519162592,
+            -15.659792470568517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -99.82608509160994,
+            251.3175757049059,
+            -15.659792470568517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -98.32608509160994,
+            248.71949949355258,
+            -15.659792470568517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -96.82608509160994,
+            246.12142328219926,
+            -15.659792470568517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -95.32608509160994,
+            243.52334707084594,
+            -15.659792470568517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -93.82608509160994,
+            240.92527085949263,
+            -15.659792470568517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -92.32608509160994,
+            238.3271946481393,
+            -15.659792470568517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -90.82608509160994,
+            235.729118436786,
+            -15.659792470568517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -89.32608509160994,
+            233.13104222543268,
+            -15.659792470568517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -87.82608509160994,
+            230.53296601407936,
+            -15.659792470568517
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -87.82608509160994,
+            230.53296601407936,
+            -15.659792470568517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -85.22800888025662,
+            229.03296601407936,
+            -15.659792470568517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -82.62993266890331,
+            227.53296601407936,
+            -15.659792470568517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -78.11547446250916,
+            225.18597507476807,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -80.03185645754999,
+            226.03296601407936,
+            -15.659792470568517
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -80.03185645754999,
+            226.03296601407936,
+            -15.659792470568517
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -80.03185645754999,
+            226.03296601407936,
+            -15.659792470568517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -77.03185645754999,
+            226.03296601407936,
+            -15.659792470568517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -74.03185645754999,
+            226.03296601407936,
+            -15.659792470568517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -71.03185645754999,
+            226.03296601407936,
+            -15.659792470568517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -68.03185645754999,
+            226.03296601407936,
+            -15.659792470568517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -65.03185645754999,
+            226.03296601407936,
+            -15.659792470568517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -62.03185645754999,
+            226.03296601407936,
+            -15.659792470568517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -59.03185645754999,
+            226.03296601407936,
+            -15.659792470568517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -56.03185645754999,
+            226.03296601407936,
+            -15.659792470568517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -53.03185645754999,
+            226.03296601407936,
+            -15.659792470568517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -50.03185645754999,
+            226.03296601407936,
+            -15.659792470568517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -47.03185645754999,
+            226.03296601407936,
+            -15.659792470568517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -44.03185645754999,
+            226.03296601407936,
+            -15.659792470568517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -41.03185645754999,
+            226.03296601407936,
+            -15.659792470568517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -38.03185645754999,
+            226.03296601407936,
+            -15.659792470568517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -35.03185645754999,
+            226.03296601407936,
+            -15.659792470568517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -32.03185645754999,
+            226.03296601407936,
+            -15.659792470568517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -29.031856457549992,
+            226.03296601407936,
+            -15.659792470568517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -26.031856457549992,
+            226.03296601407936,
+            -15.659792470568517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -23.031856457549992,
+            226.03296601407936,
+            -15.659792470568517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -20.031856457549992,
+            226.03296601407936,
+            -15.659792470568517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -17.031856457549992,
+            226.03296601407936,
+            -15.659792470568517
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -17.031856457549992,
+            226.03296601407936,
+            -15.659792470568517
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -17.031856457549992,
+            226.03296601407936,
+            -15.659792470568517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -15.531856457549992,
+            228.63104222543268,
+            -15.659792470568517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -14.031856457549992,
+            231.229118436786,
+            -15.659792470568517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -12.531856457549992,
+            233.8271946481393,
+            -15.659792470568517
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -12.531856457549992,
+            233.8271946481393,
+            -15.659792470568517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -9.933780246196676,
+            235.3271946481393,
+            -15.659792470568517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -7.33570403484336,
+            236.8271946481393,
+            -15.659792470568517
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -5.054965496063232,
+            237.79356269836427,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_gs_nwpu01/astar_data/long/2025-1-13_14-51-55_990892921/pose.jsonl

@@ -0,0 +1,561 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -86.69004202201046,
+            70.26930727067858,
+            -20.089196503616435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -86.69004202201046,
+            73.26930727067858,
+            -20.089196503616435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -86.69004202201046,
+            76.26930727067858,
+            -20.089196503616435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -86.69004202201046,
+            79.26930727067858,
+            -20.089196503616435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -86.69004202201046,
+            82.26930727067858,
+            -20.089196503616435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -86.69004202201046,
+            85.26930727067858,
+            -20.089196503616435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -86.69004202201046,
+            88.26930727067858,
+            -20.089196503616435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -86.69004202201046,
+            91.26930727067858,
+            -20.089196503616435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -86.69004202201046,
+            94.26930727067858,
+            -20.089196503616435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -86.69004202201046,
+            97.26930727067858,
+            -20.089196503616435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -86.69004202201046,
+            100.26930727067858,
+            -20.089196503616435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -86.69004202201046,
+            103.26930727067858,
+            -20.089196503616435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -86.69004202201046,
+            106.26930727067858,
+            -20.089196503616435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -86.69004202201046,
+            109.26930727067858,
+            -20.089196503616435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -86.69004202201046,
+            112.26930727067858,
+            -20.089196503616435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -86.69004202201046,
+            115.26930727067858,
+            -20.089196503616435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -86.69004202201046,
+            118.26930727067858,
+            -20.089196503616435
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -86.69004202201046,
+            118.26930727067858,
+            -20.089196503616435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -88.19004202201046,
+            120.8673834820319,
+            -20.089196503616435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -89.69004202201046,
+            123.46545969338521,
+            -20.089196503616435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -91.19004202201046,
+            126.06353590473853,
+            -20.089196503616435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -92.24793577194214,
+            130.42960138320925,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -92.69004202201046,
+            128.66161211609185,
+            -20.089196503616435
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -92.69004202201046,
+            128.66161211609185,
+            -20.089196503616435
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -92.69004202201046,
+            128.66161211609185,
+            -20.089196503616435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -95.28811823336378,
+            130.16161211609185,
+            -20.089196503616435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -97.88619444471709,
+            131.66161211609185,
+            -20.089196503616435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -100.48427065607041,
+            133.16161211609185,
+            -20.089196503616435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -103.08234686742372,
+            134.66161211609185,
+            -20.089196503616435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -105.68042307877704,
+            136.16161211609185,
+            -20.089196503616435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -108.27849929013036,
+            137.66161211609185,
+            -20.089196503616435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -110.87657550148367,
+            139.16161211609185,
+            -20.089196503616435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -113.47465171283699,
+            140.66161211609185,
+            -20.089196503616435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -116.0727279241903,
+            142.16161211609185,
+            -20.089196503616435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -118.67080413554362,
+            143.66161211609185,
+            -20.089196503616435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -121.26888034689694,
+            145.16161211609185,
+            -20.089196503616435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -123.86695655825025,
+            146.66161211609185,
+            -20.089196503616435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -126.46503276960357,
+            148.16161211609185,
+            -20.089196503616435
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -126.46503276960357,
+            148.16161211609185,
+            -20.089196503616435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -129.46503276960357,
+            148.16161211609185,
+            -20.089196503616435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -132.46503276960357,
+            148.16161211609185,
+            -20.089196503616435
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -135.46503276960357,
+            148.16161211609185,
+            -20.089196503616435
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -139.05165119171144,
+            149.82844924926758,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_gs_nwpu01/astar_data/long/2025-1-13_15-37-50_1590079444/pose.jsonl

@@ -0,0 +1,600 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            247.89164602124595,
+            161.3222674208506,
+            -18.04648913005129
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            247.89164602124595,
+            158.3222674208506,
+            -18.04648913005129
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            247.89164602124595,
+            155.3222674208506,
+            -18.04648913005129
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            247.89164602124595,
+            152.3222674208506,
+            -18.04648913005129
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            247.89164602124595,
+            149.3222674208506,
+            -18.04648913005129
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            247.89164602124595,
+            146.3222674208506,
+            -18.04648913005129
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            247.89164602124595,
+            143.3222674208506,
+            -18.04648913005129
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            247.89164602124595,
+            140.3222674208506,
+            -18.04648913005129
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            247.89164602124595,
+            137.3222674208506,
+            -18.04648913005129
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            247.89164602124595,
+            134.3222674208506,
+            -18.04648913005129
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            247.89164602124595,
+            131.3222674208506,
+            -18.04648913005129
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            247.89164602124595,
+            128.3222674208506,
+            -18.04648913005129
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            247.89164602124595,
+            125.32226742085061,
+            -18.04648913005129
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            247.89164602124595,
+            122.32226742085061,
+            -18.04648913005129
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            247.89164602124595,
+            119.32226742085061,
+            -18.04648913005129
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            247.89164602124595,
+            119.32226742085061,
+            -18.04648913005129
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            246.39164602124595,
+            116.72419120949729,
+            -18.04648913005129
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            244.89164602124595,
+            114.12611499814398,
+            -18.04648913005129
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            243.39164602124595,
+            111.52803878679066,
+            -18.04648913005129
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            241.89164602124595,
+            108.92996257543734,
+            -18.04648913005129
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            240.39164602124595,
+            106.33188636408403,
+            -18.04648913005129
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            237.49442634582522,
+            103.37022337913514,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            238.89164602124595,
+            103.73381015273071,
+            -18.04648913005129
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            238.89164602124595,
+            103.73381015273071,
+            -18.04648913005129
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            238.89164602124595,
+            103.73381015273071,
+            -18.04648913005129
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            236.29356980989263,
+            102.23381015273071,
+            -18.04648913005129
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            233.69549359853931,
+            100.73381015273071,
+            -18.04648913005129
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            231.097417387186,
+            99.23381015273071,
+            -18.04648913005129
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            228.49934117583268,
+            97.73381015273071,
+            -18.04648913005129
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            225.90126496447937,
+            96.23381015273071,
+            -18.04648913005129
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            223.30318875312605,
+            94.73381015273071,
+            -18.04648913005129
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            220.70511254177273,
+            93.23381015273071,
+            -18.04648913005129
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            218.10703633041942,
+            91.73381015273071,
+            -18.04648913005129
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            215.5089601190661,
+            90.23381015273071,
+            -18.04648913005129
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            212.9108839077128,
+            88.73381015273071,
+            -18.04648913005129
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            210.31280769635947,
+            87.23381015273071,
+            -18.04648913005129
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            207.71473148500615,
+            85.73381015273071,
+            -18.04648913005129
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            205.11665527365284,
+            84.23381015273071,
+            -18.04648913005129
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            202.51857906229952,
+            82.73381015273071,
+            -18.04648913005129
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            199.9205028509462,
+            81.23381015273071,
+            -18.04648913005129
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            197.3224266395929,
+            79.73381015273071,
+            -18.04648913005129
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            194.72435042823957,
+            78.23381015273071,
+            -18.04648913005129
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            192.12627421688626,
+            76.73381015273071,
+            -18.04648913005129
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            189.52819800553294,
+            75.23381015273071,
+            -18.04648913005129
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            186.93012179417963,
+            73.73381015273071,
+            -18.04648913005129
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            184.7513246536255,
+            73.33496251106263,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}