Add files using upload-large-folder tool

Image/env_airsim_sh/astar_data/high_long/2025-01-18_23-56-04_682110/pose.jsonl

@@ -0,0 +1,639 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -234.56602612693382,
+            -22.701415471395535,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -233.06602612693382,
+            -20.10333926004222,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -231.56602612693382,
+            -17.505263048688903,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -230.06602612693382,
+            -14.907186837335587,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -228.56602612693382,
+            -12.309110625982271,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -227.06602612693382,
+            -9.711034414628955,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -225.56602612693382,
+            -7.112958203275639,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -224.06602612693382,
+            -4.514881991922323,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -222.56602612693382,
+            -1.9168057805690069,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -221.06602612693382,
+            0.6812704307843092,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -219.56602612693382,
+            3.279346642137625,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -218.06602612693382,
+            5.877422853490941,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -216.56602612693382,
+            8.475499064844257,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -215.06602612693382,
+            11.073575276197573,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -213.56602612693382,
+            13.67165148755089,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -212.06602612693382,
+            16.269727698904205,
+            141.12572478310412
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -212.06602612693382,
+            16.269727698904205,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -210.56602612693382,
+            18.86780391025752,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -209.06602612693382,
+            21.465880121610837,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -207.56602612693382,
+            24.063956332964153,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -206.06602612693382,
+            26.66203254431747,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -204.56602612693382,
+            29.260108755670785,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -203.06602612693382,
+            31.8581849670241,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -201.56602612693382,
+            34.45626117837742,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -200.06602612693382,
+            37.05433738973073,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -198.56602612693382,
+            39.65241360108405,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -197.06602612693382,
+            42.250489812437365,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -195.56602612693382,
+            44.84856602379068,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -194.06602612693382,
+            47.446642235144,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -192.56602612693382,
+            50.04471844649731,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -191.06602612693382,
+            52.64279465785063,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -189.56602612693382,
+            55.240870869203945,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -188.06602612693382,
+            57.83894708055726,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -186.56602612693382,
+            60.43702329191058,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -185.06602612693382,
+            63.03509950326389,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -183.56602612693382,
+            65.63317571461721,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -182.06602612693382,
+            68.23125192597053,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -180.56602612693382,
+            70.82932813732384,
+            144.12572478310412
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -180.56602612693382,
+            70.82932813732384,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -177.9679499155805,
+            72.32932813732384,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -175.3698737042272,
+            73.82932813732384,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -172.77179749287387,
+            75.32932813732384,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -170.17372128152056,
+            76.82932813732384,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -167.57564507016724,
+            78.32932813732384,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -164.97756885881392,
+            79.82932813732384,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -162.3794926474606,
+            81.32932813732384,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -159.7814164361073,
+            82.82932813732384,
+            144.12572478310412
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -159.7814164361073,
+            82.82932813732384,
+            141.12572478310412
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -136.0,
+            116.0,
+            204.047
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_sh/astar_data/high_long/2025-01-19_00-17-28_467247/pose.jsonl

@@ -0,0 +1,678 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -168.17650173561,
+            67.352588583359,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -168.17650173561,
+            64.352588583359,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -168.17650173561,
+            61.352588583358994,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -168.17650173561,
+            58.352588583358994,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -168.17650173561,
+            55.352588583358994,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -168.17650173561,
+            52.352588583358994,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -168.17650173561,
+            49.352588583358994,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -168.17650173561,
+            46.352588583358994,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -168.17650173561,
+            43.352588583358994,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -168.17650173561,
+            40.352588583358994,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -168.17650173561,
+            37.352588583358994,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -168.17650173561,
+            34.352588583358994,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -168.17650173561,
+            31.352588583358994,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -168.17650173561,
+            28.352588583358994,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -168.17650173561,
+            25.352588583358994,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -168.17650173561,
+            22.352588583358994,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -168.17650173561,
+            19.352588583358994,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -168.17650173561,
+            16.352588583358994,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -168.17650173561,
+            13.352588583358994,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -168.17650173561,
+            10.352588583358994,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -168.17650173561,
+            7.352588583358994,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -168.17650173561,
+            4.352588583358994,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -168.17650173561,
+            1.352588583358994,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -168.17650173561,
+            -1.647411416641006,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -168.17650173561,
+            -4.647411416641006,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -168.17650173561,
+            -7.647411416641006,
+            141.12572478310412
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -168.17650173561,
+            -7.647411416641006,
+            144.12572478310412
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -168.17650173561,
+            -7.647411416641006,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -169.67650173561,
+            -10.245487627994322,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -171.17650173561,
+            -12.843563839347638,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -172.67650173561,
+            -15.441640050700954,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -174.17650173561,
+            -18.03971626205427,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -175.67650173561,
+            -20.637792473407586,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -177.17650173561,
+            -23.235868684760902,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -178.67650173561,
+            -25.833944896114218,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -180.17650173561,
+            -28.432021107467534,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -181.67650173561,
+            -31.03009731882085,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -183.17650173561,
+            -33.628173530174166,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -184.67650173561,
+            -36.22624974152748,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -186.17650173561,
+            -38.8243259528808,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -187.67650173561,
+            -41.422402164234114,
+            144.12572478310412
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -187.67650173561,
+            -41.422402164234114,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -187.67650173561,
+            -44.422402164234114,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -187.67650173561,
+            -47.422402164234114,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -187.67650173561,
+            -50.422402164234114,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -187.67650173561,
+            -53.422402164234114,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -187.67650173561,
+            -56.422402164234114,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -187.67650173561,
+            -59.422402164234114,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -187.67650173561,
+            -62.422402164234114,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -187.67650173561,
+            -65.42240216423411,
+            144.12572478310412
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -187.67650173561,
+            -65.42240216423411,
+            141.12572478310412
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -192.0,
+            -88.0,
+            141.554
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_sh/astar_data/high_long/2025-01-19_00-51-35_184170/pose.jsonl

@@ -0,0 +1,561 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            624.3481854510277,
+            -1112.9156483602414,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            627.3481854510277,
+            -1112.9156483602414,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            630.3481854510277,
+            -1112.9156483602414,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            633.3481854510277,
+            -1112.9156483602414,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            636.3481854510277,
+            -1112.9156483602414,
+            141.12572478310412
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            636.3481854510277,
+            -1112.9156483602414,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            638.946261662381,
+            -1114.4156483602414,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            641.5443378737343,
+            -1115.9156483602414,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            644.1424140850877,
+            -1117.4156483602414,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            646.7404902964411,
+            -1118.9156483602414,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            649.3385665077944,
+            -1120.4156483602414,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            651.9366427191478,
+            -1121.9156483602414,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            654.5347189305012,
+            -1123.4156483602414,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            657.1327951418546,
+            -1124.9156483602414,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            659.7308713532079,
+            -1126.4156483602414,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            662.3289475645613,
+            -1127.9156483602414,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            664.9270237759147,
+            -1129.4156483602414,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            667.525099987268,
+            -1130.9156483602414,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            670.1231761986214,
+            -1132.4156483602414,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            672.7212524099748,
+            -1133.9156483602414,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            675.3193286213282,
+            -1135.4156483602414,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            677.9174048326815,
+            -1136.9156483602414,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            680.5154810440349,
+            -1138.4156483602414,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            683.1135572553883,
+            -1139.9156483602414,
+            141.12572478310412
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            683.1135572553883,
+            -1139.9156483602414,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            685.7116334667417,
+            -1141.4156483602414,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            688.309709678095,
+            -1142.9156483602414,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            690.9077858894484,
+            -1144.4156483602414,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            693.5058621008018,
+            -1145.9156483602414,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            696.1039383121552,
+            -1147.4156483602414,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            698.7020145235085,
+            -1148.9156483602414,
+            144.12572478310412
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            698.7020145235085,
+            -1148.9156483602414,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 9.43689570931383e-15
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            701.7020145235085,
+            -1148.9156483602414,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            704.7020145235085,
+            -1148.9156483602414,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            707.7020145235085,
+            -1148.9156483602414,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            710.7020145235085,
+            -1148.9156483602414,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            713.7020145235085,
+            -1148.9156483602414,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            716.7020145235085,
+            -1148.9156483602414,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            719.7020145235085,
+            -1148.9156483602414,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            722.7020145235085,
+            -1148.9156483602414,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            725.7020145235085,
+            -1148.9156483602414,
+            144.12572478310412
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            725.7020145235085,
+            -1148.9156483602414,
+            141.12572478310412
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            768.0,
+            -1160.0,
+            163.63
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_sh/astar_data/high_long/2025-01-19_00-55-49_173029/pose.jsonl

@@ -0,0 +1,756 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            807.472099108579,
+            -1241.9576987404253,
+            141.12572478310412
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            807.472099108579,
+            -1241.9576987404253,
+            144.12572478310412
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            807.472099108579,
+            -1241.9576987404253,
+            144.12572478310412
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            807.472099108579,
+            -1241.9576987404253,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            808.972099108579,
+            -1244.5557749517786,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            810.472099108579,
+            -1247.153851163132,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            811.972099108579,
+            -1249.7519273744854,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            813.472099108579,
+            -1252.3500035858387,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            814.972099108579,
+            -1254.9480797971921,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            816.472099108579,
+            -1257.5461560085455,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            817.972099108579,
+            -1260.1442322198989,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            819.472099108579,
+            -1262.7423084312522,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            820.972099108579,
+            -1265.3403846426056,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            822.472099108579,
+            -1267.938460853959,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            823.972099108579,
+            -1270.5365370653124,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            825.472099108579,
+            -1273.1346132766657,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            826.972099108579,
+            -1275.732689488019,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            828.472099108579,
+            -1278.3307656993725,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            829.972099108579,
+            -1280.9288419107259,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            831.472099108579,
+            -1283.5269181220792,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            832.972099108579,
+            -1286.1249943334326,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            834.472099108579,
+            -1288.723070544786,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            835.972099108579,
+            -1291.3211467561393,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            837.472099108579,
+            -1293.9192229674927,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            838.972099108579,
+            -1296.517299178846,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            840.472099108579,
+            -1299.1153753901995,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            841.972099108579,
+            -1301.7134516015528,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            843.472099108579,
+            -1304.3115278129062,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            844.972099108579,
+            -1306.9096040242596,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            846.472099108579,
+            -1309.507680235613,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            847.972099108579,
+            -1312.1057564469663,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            849.472099108579,
+            -1314.7038326583197,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            850.972099108579,
+            -1317.301908869673,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            852.472099108579,
+            -1319.8999850810264,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            853.972099108579,
+            -1322.4980612923798,
+            144.12572478310412
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            853.972099108579,
+            -1322.4980612923798,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            853.972099108579,
+            -1325.4980612923798,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            853.972099108579,
+            -1328.4980612923798,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            853.972099108579,
+            -1331.4980612923798,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            853.972099108579,
+            -1334.4980612923798,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            853.972099108579,
+            -1337.4980612923798,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            853.972099108579,
+            -1340.4980612923798,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            853.972099108579,
+            -1343.4980612923798,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            853.972099108579,
+            -1346.4980612923798,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            853.972099108579,
+            -1349.4980612923798,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            853.972099108579,
+            -1352.4980612923798,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            853.972099108579,
+            -1355.4980612923798,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            853.972099108579,
+            -1358.4980612923798,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            853.972099108579,
+            -1361.4980612923798,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            853.972099108579,
+            -1364.4980612923798,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            853.972099108579,
+            -1367.4980612923798,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            853.972099108579,
+            -1370.4980612923798,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            853.972099108579,
+            -1373.4980612923798,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            853.972099108579,
+            -1376.4980612923798,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            853.972099108579,
+            -1379.4980612923798,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            853.972099108579,
+            -1382.4980612923798,
+            144.12572478310412
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            853.972099108579,
+            -1382.4980612923798,
+            141.12572478310412
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            860.0,
+            -1396.0,
+            145.913
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_sh/astar_data/high_long/2025-01-19_01-07-43_652367/pose.jsonl

@@ -0,0 +1,782 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -345.498300631187,
+            80.59131824729633,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -343.998300631187,
+            83.18939445864964,
+            141.12572478310412
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -343.998300631187,
+            83.18939445864964,
+            144.12572478310412
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -343.998300631187,
+            83.18939445864964,
+            147.12572478310412
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -343.998300631187,
+            83.18939445864964,
+            150.12572478310412
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -343.998300631187,
+            83.18939445864964,
+            153.12572478310412
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -343.998300631187,
+            83.18939445864964,
+            156.12572478310412
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -343.998300631187,
+            83.18939445864964,
+            156.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -341.4002244198337,
+            84.68939445864964,
+            156.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -338.8021482084804,
+            86.18939445864964,
+            156.12572478310412
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -338.8021482084804,
+            86.18939445864964,
+            159.12572478310412
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -338.8021482084804,
+            86.18939445864964,
+            159.12572478310412
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -338.8021482084804,
+            86.18939445864964,
+            159.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -338.8021482084804,
+            89.18939445864964,
+            159.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -338.8021482084804,
+            92.18939445864964,
+            159.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -338.8021482084804,
+            95.18939445864964,
+            159.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -338.8021482084804,
+            98.18939445864964,
+            159.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -338.8021482084804,
+            101.18939445864964,
+            159.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -338.8021482084804,
+            104.18939445864964,
+            159.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -338.8021482084804,
+            107.18939445864964,
+            159.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -338.8021482084804,
+            110.18939445864964,
+            159.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -338.8021482084804,
+            113.18939445864964,
+            159.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -338.8021482084804,
+            116.18939445864964,
+            159.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -338.8021482084804,
+            119.18939445864964,
+            159.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -338.8021482084804,
+            122.18939445864964,
+            159.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -338.8021482084804,
+            125.18939445864964,
+            159.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -338.8021482084804,
+            128.18939445864964,
+            159.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -338.8021482084804,
+            131.18939445864964,
+            159.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -338.8021482084804,
+            134.18939445864964,
+            159.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -338.8021482084804,
+            137.18939445864964,
+            159.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -338.8021482084804,
+            140.18939445864964,
+            159.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -338.8021482084804,
+            143.18939445864964,
+            159.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -338.8021482084804,
+            146.18939445864964,
+            159.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -338.8021482084804,
+            149.18939445864964,
+            159.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -338.8021482084804,
+            152.18939445864964,
+            159.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -338.8021482084804,
+            155.18939445864964,
+            159.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -338.8021482084804,
+            158.18939445864964,
+            159.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -338.8021482084804,
+            161.18939445864964,
+            159.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -338.8021482084804,
+            164.18939445864964,
+            159.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -338.8021482084804,
+            167.18939445864964,
+            159.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -338.8021482084804,
+            170.18939445864964,
+            159.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -338.8021482084804,
+            173.18939445864964,
+            159.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -338.8021482084804,
+            176.18939445864964,
+            159.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -338.8021482084804,
+            179.18939445864964,
+            159.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -338.8021482084804,
+            182.18939445864964,
+            159.12572478310412
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -338.8021482084804,
+            182.18939445864964,
+            159.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -337.3021482084804,
+            184.78747067000296,
+            159.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -335.8021482084804,
+            187.38554688135628,
+            159.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -334.3021482084804,
+            189.9836230927096,
+            159.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -332.8021482084804,
+            192.5816993040629,
+            159.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -331.3021482084804,
+            195.17977551541622,
+            159.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -329.8021482084804,
+            197.77785172676954,
+            159.12572478310412
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -329.8021482084804,
+            197.77785172676954,
+            156.12572478310412
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -329.8021482084804,
+            197.77785172676954,
+            153.12572478310412
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -329.8021482084804,
+            197.77785172676954,
+            150.12572478310412
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -329.8021482084804,
+            197.77785172676954,
+            147.12572478310412
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -329.8021482084804,
+            197.77785172676954,
+            144.12572478310412
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -329.8021482084804,
+            197.77785172676954,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            -328.3021482084804,
+            200.37592793812286,
+            141.12572478310412
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -320.0,
+            256.0,
+            154.563
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_sh/astar_data/high_long/2025-01-19_01-14-28_154557/pose.jsonl

@@ -0,0 +1,639 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            824.9444672961708,
+            -1311.744733270162,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            824.9444672961708,
+            -1308.744733270162,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            824.9444672961708,
+            -1305.744733270162,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            824.9444672961708,
+            -1302.744733270162,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            824.9444672961708,
+            -1299.744733270162,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            824.9444672961708,
+            -1296.744733270162,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            824.9444672961708,
+            -1293.744733270162,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            824.9444672961708,
+            -1290.744733270162,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            824.9444672961708,
+            -1287.744733270162,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            824.9444672961708,
+            -1284.744733270162,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            824.9444672961708,
+            -1281.744733270162,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            824.9444672961708,
+            -1278.744733270162,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            824.9444672961708,
+            -1275.744733270162,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            824.9444672961708,
+            -1272.744733270162,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            824.9444672961708,
+            -1269.744733270162,
+            141.12572478310412
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            824.9444672961708,
+            -1269.744733270162,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            823.4444672961708,
+            -1267.1466570588086,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            821.9444672961708,
+            -1264.5485808474552,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            820.4444672961708,
+            -1261.9505046361019,
+            141.12572478310412
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            820.4444672961708,
+            -1261.9505046361019,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            818.9444672961708,
+            -1259.3524284247485,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            817.4444672961708,
+            -1256.7543522133951,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            815.9444672961708,
+            -1254.1562760020417,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            814.4444672961708,
+            -1251.5581997906884,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            812.9444672961708,
+            -1248.960123579335,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            811.4444672961708,
+            -1246.3620473679816,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            809.9444672961708,
+            -1243.7639711566283,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            808.4444672961708,
+            -1241.1658949452749,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            806.9444672961708,
+            -1238.5678187339215,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            805.4444672961708,
+            -1235.9697425225681,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            803.9444672961708,
+            -1233.3716663112148,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            802.4444672961708,
+            -1230.7735900998614,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            800.9444672961708,
+            -1228.175513888508,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            799.4444672961708,
+            -1225.5774376771546,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            797.9444672961708,
+            -1222.9793614658013,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            796.4444672961708,
+            -1220.381285254448,
+            144.12572478310412
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            796.4444672961708,
+            -1220.381285254448,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            793.8463910848175,
+            -1218.881285254448,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            791.2483148734641,
+            -1217.381285254448,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            788.6502386621107,
+            -1215.881285254448,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            786.0521624507574,
+            -1214.381285254448,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            783.454086239404,
+            -1212.881285254448,
+            144.12572478310412
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            783.454086239404,
+            -1212.881285254448,
+            144.12572478310412
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            783.454086239404,
+            -1212.881285254448,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.570796326794906
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            783.454086239404,
+            -1209.881285254448,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            783.454086239404,
+            -1206.881285254448,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            783.454086239404,
+            -1203.881285254448,
+            144.12572478310412
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            783.454086239404,
+            -1203.881285254448,
+            141.12572478310412
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            768.0,
+            -1160.0,
+            163.63
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_sh/astar_data/high_long/2025-01-19_01-16-06_113605/pose.jsonl

@@ -0,0 +1,665 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -200.75231845340505,
+            5.39227431825244,
+            141.12572478310412
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -200.75231845340505,
+            5.39227431825244,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -197.75231845340505,
+            5.39227431825244,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -194.75231845340505,
+            5.39227431825244,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -191.75231845340505,
+            5.39227431825244,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -188.75231845340505,
+            5.39227431825244,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -185.75231845340505,
+            5.39227431825244,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -182.75231845340505,
+            5.39227431825244,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -179.75231845340505,
+            5.39227431825244,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -176.75231845340505,
+            5.39227431825244,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -173.75231845340505,
+            5.39227431825244,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -170.75231845340505,
+            5.39227431825244,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -167.75231845340505,
+            5.39227431825244,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -164.75231845340505,
+            5.39227431825244,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -161.75231845340505,
+            5.39227431825244,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -158.75231845340505,
+            5.39227431825244,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -155.75231845340505,
+            5.39227431825244,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -152.75231845340505,
+            5.39227431825244,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -149.75231845340505,
+            5.39227431825244,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -146.75231845340505,
+            5.39227431825244,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -143.75231845340505,
+            5.39227431825244,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -140.75231845340505,
+            5.39227431825244,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -137.75231845340505,
+            5.39227431825244,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -134.75231845340505,
+            5.39227431825244,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -131.75231845340505,
+            5.39227431825244,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -128.75231845340505,
+            5.39227431825244,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -125.75231845340505,
+            5.39227431825244,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -122.75231845340505,
+            5.39227431825244,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -119.75231845340505,
+            5.39227431825244,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -116.75231845340505,
+            5.39227431825244,
+            144.12572478310412
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -116.75231845340505,
+            5.39227431825244,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -114.15424224205174,
+            3.89227431825244,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -111.55616603069842,
+            2.39227431825244,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -108.9580898193451,
+            0.8922743182524402,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -106.36001360799179,
+            -0.6077256817475596,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -103.76193739663847,
+            -2.107725681747559,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982987
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -101.16386118528516,
+            -3.607725681747559,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -98.56578497393184,
+            -5.107725681747559,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -95.96770876257852,
+            -6.607725681747559,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -93.36963255122521,
+            -8.107725681747558,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982986
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -90.77155633987189,
+            -9.607725681747558,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -88.17348012851858,
+            -11.107725681747558,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -85.57540391716526,
+            -12.607725681747558,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -82.97732770581194,
+            -14.107725681747558,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -80.37925149445863,
+            -15.607725681747558,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -77.78117528310531,
+            -17.107725681747556,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982984
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -75.183099071752,
+            -18.607725681747556,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -72.58502286039868,
+            -20.107725681747556,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -69.98694664904536,
+            -21.607725681747556,
+            144.12572478310412
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -69.98694664904536,
+            -21.607725681747556,
+            141.12572478310412
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -36.0,
+            -28.0,
+            212.257
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_sh/astar_data/high_long/2025-01-19_01-33-36_776519/pose.jsonl

@@ -0,0 +1,639 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -161.7867727160423,
+            60.392887232894225,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -161.7867727160423,
+            57.392887232894225,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -161.7867727160423,
+            54.392887232894225,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -161.7867727160423,
+            51.392887232894225,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -161.7867727160423,
+            48.392887232894225,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -161.7867727160423,
+            45.392887232894225,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -161.7867727160423,
+            42.392887232894225,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -161.7867727160423,
+            39.392887232894225,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -161.7867727160423,
+            36.392887232894225,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -161.7867727160423,
+            33.392887232894225,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -161.7867727160423,
+            30.392887232894225,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -161.7867727160423,
+            27.392887232894225,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -161.7867727160423,
+            24.392887232894225,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -161.7867727160423,
+            21.392887232894225,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -161.7867727160423,
+            18.392887232894225,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -161.7867727160423,
+            15.392887232894225,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -161.7867727160423,
+            12.392887232894225,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -161.7867727160423,
+            9.392887232894225,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -161.7867727160423,
+            6.392887232894225,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -161.7867727160423,
+            3.392887232894225,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -161.7867727160423,
+            0.3928872328942248,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -161.7867727160423,
+            -2.607112767105775,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -161.7867727160423,
+            -5.607112767105775,
+            141.12572478310412
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -161.7867727160423,
+            -5.607112767105775,
+            144.12572478310412
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -161.7867727160423,
+            -5.607112767105775,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -163.2867727160423,
+            -8.205188978459091,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -164.7867727160423,
+            -10.803265189812407,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -166.2867727160423,
+            -13.401341401165723,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -167.7867727160423,
+            -15.99941761251904,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -169.2867727160423,
+            -18.597493823872355,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -170.7867727160423,
+            -21.19557003522567,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -172.2867727160423,
+            -23.793646246578987,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -173.7867727160423,
+            -26.391722457932303,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -175.2867727160423,
+            -28.98979866928562,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -176.7867727160423,
+            -31.587874880638935,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -178.2867727160423,
+            -34.18595109199225,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -179.7867727160423,
+            -36.78402730334557,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -181.2867727160423,
+            -39.38210351469888,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -182.7867727160423,
+            -41.9801797260522,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -184.2867727160423,
+            -44.578255937405515,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -185.7867727160423,
+            -47.17633214875883,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -187.2867727160423,
+            -49.77440836011215,
+            144.12572478310412
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -187.2867727160423,
+            -49.77440836011215,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -187.2867727160423,
+            -52.77440836011215,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -187.2867727160423,
+            -55.77440836011215,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -187.2867727160423,
+            -58.77440836011215,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -187.2867727160423,
+            -61.77440836011215,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -187.2867727160423,
+            -64.77440836011215,
+            144.12572478310412
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -192.0,
+            -88.0,
+            141.554
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_sh/astar_data/high_long/2025-01-19_02-30-55_387376/pose.jsonl

@@ -0,0 +1,587 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            577.3080104106785,
+            732.4384730450149,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            575.8080104106785,
+            729.8403968336615,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            574.3080104106785,
+            727.2423206223082,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            572.8080104106785,
+            724.6442444109548,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            571.3080104106785,
+            722.0461681996014,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            569.8080104106785,
+            719.448091988248,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            568.3080104106785,
+            716.8500157768947,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            566.8080104106785,
+            714.2519395655413,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            565.3080104106785,
+            711.6538633541879,
+            141.12572478310412
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            565.3080104106785,
+            711.6538633541879,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            562.7099341993253,
+            710.1538633541879,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            560.1118579879719,
+            708.6538633541879,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            557.5137817766185,
+            707.1538633541879,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            554.9157055652652,
+            705.6538633541879,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            552.3176293539118,
+            704.1538633541879,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            549.7195531425584,
+            702.6538633541879,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            547.121476931205,
+            701.1538633541879,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            544.5234007198517,
+            699.6538633541879,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            541.9253245084983,
+            698.1538633541879,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            539.3272482971449,
+            696.6538633541879,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            536.7291720857916,
+            695.1538633541879,
+            141.12572478310412
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            536.7291720857916,
+            695.1538633541879,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            534.1310958744382,
+            693.6538633541879,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            531.5330196630848,
+            692.1538633541879,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            528.9349434517314,
+            690.6538633541879,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            526.3368672403781,
+            689.1538633541879,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            523.7387910290247,
+            687.6538633541879,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            521.1407148176713,
+            686.1538633541879,
+            144.12572478310412
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            521.1407148176713,
+            686.1538633541879,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            519.6407148176713,
+            683.5557871428346,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            518.1407148176713,
+            680.9577109314812,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            516.6407148176713,
+            678.3596347201278,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            515.1407148176713,
+            675.7615585087744,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            513.6407148176713,
+            673.1634822974211,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            512.1407148176713,
+            670.5654060860677,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            510.6407148176713,
+            667.9673298747143,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            509.1407148176713,
+            665.369253663361,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            507.6407148176713,
+            662.7711774520076,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            506.1407148176713,
+            660.1731012406542,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            504.6407148176713,
+            657.5750250293008,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            503.1407148176713,
+            654.9769488179475,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            501.6407148176713,
+            652.3788726065941,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            500.1407148176713,
+            649.7807963952407,
+            144.12572478310412
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            500.1407148176713,
+            649.7807963952407,
+            141.12572478310412
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            464.0,
+            608.0,
+            143.444
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_sh/astar_data/high_long/2025-01-19_03-06-35_95002/pose.jsonl

@@ -0,0 +1,548 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -191.76909112932023,
+            -26.271942209169367,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -190.26909112932023,
+            -23.67386599781605,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -188.76909112932023,
+            -21.075789786462735,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -187.26909112932023,
+            -18.47771357510942,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -185.76909112932023,
+            -15.879637363756103,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -184.26909112932023,
+            -13.281561152402787,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -182.76909112932023,
+            -10.683484941049471,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -181.26909112932023,
+            -8.085408729696155,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -179.76909112932023,
+            -5.487332518342839,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -178.26909112932023,
+            -2.889256306989523,
+            141.12572478310412
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -178.26909112932023,
+            -2.889256306989523,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -176.76909112932023,
+            -0.29118009563620717,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -175.26909112932023,
+            2.306896115717109,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -173.76909112932023,
+            4.904972327070425,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -172.26909112932023,
+            7.503048538423741,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -170.76909112932023,
+            10.101124749777057,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -169.26909112932023,
+            12.699200961130373,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -167.76909112932023,
+            15.297277172483689,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -166.26909112932023,
+            17.895353383837005,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -164.76909112932023,
+            20.49342959519032,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -163.26909112932023,
+            23.091505806543637,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -161.76909112932023,
+            25.689582017896953,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -160.26909112932023,
+            28.28765822925027,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -158.76909112932023,
+            30.885734440603585,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -157.26909112932023,
+            33.4838106519569,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -155.76909112932023,
+            36.08188686331022,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -154.26909112932023,
+            38.67996307466353,
+            144.12572478310412
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -154.26909112932023,
+            38.67996307466353,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -154.26909112932023,
+            41.67996307466353,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -154.26909112932023,
+            44.67996307466353,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -154.26909112932023,
+            47.67996307466353,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -154.26909112932023,
+            50.67996307466353,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -154.26909112932023,
+            53.67996307466353,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -154.26909112932023,
+            56.67996307466353,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -154.26909112932023,
+            59.67996307466353,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -154.26909112932023,
+            62.67996307466353,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -154.26909112932023,
+            65.67996307466353,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -154.26909112932023,
+            68.67996307466353,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -154.26909112932023,
+            71.67996307466353,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -154.26909112932023,
+            74.67996307466353,
+            144.12572478310412
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -154.26909112932023,
+            74.67996307466353,
+            141.12572478310412
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -136.0,
+            116.0,
+            204.047
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_sh/astar_data/high_long/2025-01-19_03-47-16_52998/pose.jsonl

@@ -0,0 +1,821 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            903.8644017997367,
+            -1618.7952150405697,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            901.2663255883833,
+            -1620.2952150405697,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            898.66824937703,
+            -1621.7952150405697,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            896.0701731656766,
+            -1623.2952150405697,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            893.4720969543232,
+            -1624.7952150405697,
+            141.12572478310412
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            893.4720969543232,
+            -1624.7952150405697,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            890.4720969543232,
+            -1624.7952150405697,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            887.4720969543232,
+            -1624.7952150405697,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            884.4720969543232,
+            -1624.7952150405697,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            881.4720969543232,
+            -1624.7952150405697,
+            141.12572478310412
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            881.4720969543232,
+            -1624.7952150405697,
+            144.12572478310412
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            881.4720969543232,
+            -1624.7952150405697,
+            144.12572478310412
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            881.4720969543232,
+            -1624.7952150405697,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 4.1887902047863905
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            879.9720969543232,
+            -1627.393291251923,
+            144.12572478310412
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            879.9720969543232,
+            -1627.393291251923,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            877.3740207429698,
+            -1628.893291251923,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            874.7759445316165,
+            -1630.393291251923,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            872.1778683202631,
+            -1631.893291251923,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            869.5797921089097,
+            -1633.393291251923,
+            144.12572478310412
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            869.5797921089097,
+            -1633.393291251923,
+            144.12572478310412
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            869.5797921089097,
+            -1633.393291251923,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.570796326794906
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            869.5797921089097,
+            -1636.393291251923,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            869.5797921089097,
+            -1639.393291251923,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            869.5797921089097,
+            -1642.393291251923,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            869.5797921089097,
+            -1645.393291251923,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            869.5797921089097,
+            -1648.393291251923,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            869.5797921089097,
+            -1651.393291251923,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            869.5797921089097,
+            -1654.393291251923,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            869.5797921089097,
+            -1657.393291251923,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            869.5797921089097,
+            -1660.393291251923,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            869.5797921089097,
+            -1663.393291251923,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            869.5797921089097,
+            -1666.393291251923,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            869.5797921089097,
+            -1669.393291251923,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            869.5797921089097,
+            -1672.393291251923,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            869.5797921089097,
+            -1675.393291251923,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            869.5797921089097,
+            -1678.393291251923,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            869.5797921089097,
+            -1681.393291251923,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            869.5797921089097,
+            -1684.393291251923,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            869.5797921089097,
+            -1687.393291251923,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            869.5797921089097,
+            -1690.393291251923,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            869.5797921089097,
+            -1693.393291251923,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            869.5797921089097,
+            -1696.393291251923,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            869.5797921089097,
+            -1699.393291251923,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            869.5797921089097,
+            -1702.393291251923,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            869.5797921089097,
+            -1705.393291251923,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            869.5797921089097,
+            -1708.393291251923,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            869.5797921089097,
+            -1711.393291251923,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            869.5797921089097,
+            -1714.393291251923,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            869.5797921089097,
+            -1717.393291251923,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            869.5797921089097,
+            -1720.393291251923,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            869.5797921089097,
+            -1723.393291251923,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            869.5797921089097,
+            -1726.393291251923,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            869.5797921089097,
+            -1729.393291251923,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            869.5797921089097,
+            -1732.393291251923,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            869.5797921089097,
+            -1735.393291251923,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            869.5797921089097,
+            -1738.393291251923,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            869.5797921089097,
+            -1741.393291251923,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            869.5797921089097,
+            -1744.393291251923,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            869.5797921089097,
+            -1747.393291251923,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            869.5797921089097,
+            -1750.393291251923,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            869.5797921089097,
+            -1753.393291251923,
+            144.12572478310412
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            869.5797921089097,
+            -1753.393291251923,
+            141.12572478310412
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            868.0,
+            -1768.0,
+            146.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_sh/astar_data/high_long/2025-01-19_04-17-06_427696/pose.jsonl

@@ -0,0 +1,769 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            528.7870157060797,
+            267.45765876070914,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            531.7870157060797,
+            267.45765876070914,
+            141.12572478310412
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            531.7870157060797,
+            267.45765876070914,
+            141.12572478310412
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            531.7870157060797,
+            267.45765876070914,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            533.2870157060797,
+            270.05573497206245,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            534.7870157060797,
+            272.65381118341577,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            536.2870157060797,
+            275.2518873947691,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            537.7870157060797,
+            277.8499636061224,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            539.2870157060797,
+            280.4480398174757,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            540.7870157060797,
+            283.04611602882903,
+            141.12572478310412
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            540.7870157060797,
+            283.04611602882903,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            543.3850919174331,
+            284.54611602882903,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            545.9831681287865,
+            286.04611602882903,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            548.5812443401398,
+            287.54611602882903,
+            141.12572478310412
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            548.5812443401398,
+            287.54611602882903,
+            144.12572478310412
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            548.5812443401398,
+            287.54611602882903,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -9.43689570931383e-15
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            551.5812443401398,
+            287.54611602882903,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            554.5812443401398,
+            287.54611602882903,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            557.5812443401398,
+            287.54611602882903,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            560.5812443401398,
+            287.54611602882903,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            563.5812443401398,
+            287.54611602882903,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            566.5812443401398,
+            287.54611602882903,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            569.5812443401398,
+            287.54611602882903,
+            144.12572478310412
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            569.5812443401398,
+            287.54611602882903,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            572.1793205514932,
+            286.04611602882903,
+            144.12572478310412
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            572.1793205514932,
+            286.04611602882903,
+            144.12572478310412
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 9.43689570931383e-15
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            572.1793205514932,
+            286.04611602882903,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983083
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            574.7773967628466,
+            287.54611602882903,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            577.3754729742,
+            289.04611602882903,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            579.9735491855533,
+            290.54611602882903,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            582.5716253969067,
+            292.04611602882903,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            585.1697016082601,
+            293.54611602882903,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            587.7677778196135,
+            295.04611602882903,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            590.3658540309668,
+            296.54611602882903,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            592.9639302423202,
+            298.04611602882903,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            595.5620064536736,
+            299.54611602882903,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            598.160082665027,
+            301.04611602882903,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            600.7581588763803,
+            302.54611602882903,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            603.3562350877337,
+            304.04611602882903,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            605.9543112990871,
+            305.54611602882903,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            608.5523875104404,
+            307.04611602882903,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            611.1504637217938,
+            308.54611602882903,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            613.7485399331472,
+            310.04611602882903,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            616.3466161445006,
+            311.54611602882903,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            618.9446923558539,
+            313.04611602882903,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            621.5427685672073,
+            314.54611602882903,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            624.1408447785607,
+            316.04611602882903,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            626.738920989914,
+            317.54611602882903,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            629.3369972012674,
+            319.04611602882903,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            631.9350734126208,
+            320.54611602882903,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            634.5331496239742,
+            322.04611602882903,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            637.1312258353275,
+            323.54611602882903,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            639.7293020466809,
+            325.04611602882903,
+            144.12572478310412
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            639.7293020466809,
+            325.04611602882903,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            641.2293020466809,
+            327.64419224018235,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            642.7293020466809,
+            330.24226845153567,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            644.2293020466809,
+            332.840344662889,
+            144.12572478310412
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            644.2293020466809,
+            332.840344662889,
+            141.12572478310412
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            668.0,
+            348.0,
+            160.773
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_sh/astar_data/high_long/2025-01-19_04-36-50_856846/pose.jsonl

@@ -0,0 +1,925 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            899.5593149792161,
+            -1642.671460307361,
+            141.12572478310412
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            899.5593149792161,
+            -1642.671460307361,
+            144.12572478310412
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            899.5593149792161,
+            -1642.671460307361,
+            147.12572478310412
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            899.5593149792161,
+            -1642.671460307361,
+            150.12572478310412
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            899.5593149792161,
+            -1642.671460307361,
+            153.12572478310412
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            899.5593149792161,
+            -1642.671460307361,
+            153.12572478310412
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            899.5593149792161,
+            -1642.671460307361,
+            153.12572478310412
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            899.5593149792161,
+            -1642.671460307361,
+            153.12572478310412
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            899.5593149792161,
+            -1642.671460307361,
+            153.12572478310412
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            899.5593149792161,
+            -1642.671460307361,
+            153.12572478310412
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            899.5593149792161,
+            -1642.671460307361,
+            153.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            896.5593149792161,
+            -1642.671460307361,
+            153.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            893.5593149792161,
+            -1642.671460307361,
+            153.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            890.5593149792161,
+            -1642.671460307361,
+            153.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            887.5593149792161,
+            -1642.671460307361,
+            153.12572478310412
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            887.5593149792161,
+            -1642.671460307361,
+            153.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            884.9612387678628,
+            -1644.171460307361,
+            153.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            882.3631625565095,
+            -1645.671460307361,
+            153.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            879.7650863451561,
+            -1647.171460307361,
+            153.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            877.1670101338027,
+            -1648.671460307361,
+            153.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            874.5689339224493,
+            -1650.171460307361,
+            153.12572478310412
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            874.5689339224493,
+            -1650.171460307361,
+            153.12572478310412
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            874.5689339224493,
+            -1650.171460307361,
+            153.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.570796326794906
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            874.5689339224493,
+            -1653.171460307361,
+            153.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            874.5689339224493,
+            -1656.171460307361,
+            153.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            874.5689339224493,
+            -1659.171460307361,
+            153.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            874.5689339224493,
+            -1662.171460307361,
+            153.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            874.5689339224493,
+            -1665.171460307361,
+            153.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            874.5689339224493,
+            -1668.171460307361,
+            153.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            874.5689339224493,
+            -1671.171460307361,
+            153.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            874.5689339224493,
+            -1674.171460307361,
+            153.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            874.5689339224493,
+            -1677.171460307361,
+            153.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            874.5689339224493,
+            -1680.171460307361,
+            153.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            874.5689339224493,
+            -1683.171460307361,
+            153.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            874.5689339224493,
+            -1686.171460307361,
+            153.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            874.5689339224493,
+            -1689.171460307361,
+            153.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            874.5689339224493,
+            -1692.171460307361,
+            153.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            874.5689339224493,
+            -1695.171460307361,
+            153.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            874.5689339224493,
+            -1698.171460307361,
+            153.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            874.5689339224493,
+            -1701.171460307361,
+            153.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            874.5689339224493,
+            -1704.171460307361,
+            153.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            874.5689339224493,
+            -1707.171460307361,
+            153.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            874.5689339224493,
+            -1710.171460307361,
+            153.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            874.5689339224493,
+            -1713.171460307361,
+            153.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            874.5689339224493,
+            -1716.171460307361,
+            153.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            874.5689339224493,
+            -1719.171460307361,
+            153.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            874.5689339224493,
+            -1722.171460307361,
+            153.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            874.5689339224493,
+            -1725.171460307361,
+            153.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            874.5689339224493,
+            -1728.171460307361,
+            153.12572478310412
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            874.5689339224493,
+            -1728.171460307361,
+            153.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            873.0689339224493,
+            -1730.7695365187144,
+            153.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            871.5689339224493,
+            -1733.3676127300678,
+            153.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            870.0689339224493,
+            -1735.9656889414211,
+            153.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            868.5689339224493,
+            -1738.5637651527745,
+            153.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            867.0689339224493,
+            -1741.161841364128,
+            153.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            865.5689339224493,
+            -1743.7599175754813,
+            153.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            864.0689339224493,
+            -1746.3579937868346,
+            153.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            862.5689339224493,
+            -1748.956069998188,
+            153.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            861.0689339224493,
+            -1751.5541462095414,
+            153.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            859.5689339224493,
+            -1754.1522224208948,
+            153.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            858.0689339224493,
+            -1756.7502986322481,
+            153.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            856.5689339224493,
+            -1759.3483748436015,
+            153.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            855.0689339224493,
+            -1761.9464510549549,
+            153.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            853.5689339224493,
+            -1764.5445272663083,
+            153.12572478310412
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            853.5689339224493,
+            -1764.5445272663083,
+            150.12572478310412
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            853.5689339224493,
+            -1764.5445272663083,
+            147.12572478310412
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            853.5689339224493,
+            -1764.5445272663083,
+            144.12572478310412
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            853.5689339224493,
+            -1764.5445272663083,
+            141.12572478310412
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            853.5689339224493,
+            -1764.5445272663083,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            850.970857711096,
+            -1766.0445272663083,
+            141.12572478310412
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            836.0,
+            -1808.0,
+            165.105
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_sh/astar_data/high_long/2025-01-19_05-37-00_790778/pose.jsonl

@@ -0,0 +1,652 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -126.68402602769785,
+            56.32331457150002,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -128.18402602769785,
+            53.725238360146705,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -129.68402602769785,
+            51.12716214879339,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -131.18402602769785,
+            48.52908593744007,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -132.68402602769785,
+            45.93100972608676,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -134.18402602769785,
+            43.33293351473344,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -135.68402602769785,
+            40.734857303380124,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -137.18402602769785,
+            38.13678109202681,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -138.68402602769785,
+            35.53870488067349,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -140.18402602769785,
+            32.940628669320176,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -141.68402602769785,
+            30.34255245796686,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -143.18402602769785,
+            27.744476246613544,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -144.68402602769785,
+            25.14640003526023,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -146.18402602769785,
+            22.548323823906912,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -147.68402602769785,
+            19.950247612553596,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -149.18402602769785,
+            17.35217140120028,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -150.68402602769785,
+            14.754095189846964,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -152.18402602769785,
+            12.156018978493648,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -153.68402602769785,
+            9.557942767140332,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -155.18402602769785,
+            6.959866555787016,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -156.68402602769785,
+            4.3617903444337,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -158.18402602769785,
+            1.7637141330803843,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -159.68402602769785,
+            -0.8343620782729317,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -161.18402602769785,
+            -3.4324382896262478,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -162.68402602769785,
+            -6.030514500979564,
+            141.12572478310412
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -162.68402602769785,
+            -6.030514500979564,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -164.18402602769785,
+            -8.62859071233288,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -165.68402602769785,
+            -11.226666923686196,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -167.18402602769785,
+            -13.824743135039512,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -168.68402602769785,
+            -16.422819346392828,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -170.18402602769785,
+            -19.020895557746144,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -171.68402602769785,
+            -21.61897176909946,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -173.18402602769785,
+            -24.217047980452776,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -174.68402602769785,
+            -26.815124191806092,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -176.18402602769785,
+            -29.413200403159408,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -177.68402602769785,
+            -32.011276614512724,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -179.18402602769785,
+            -34.60935282586604,
+            144.12572478310412
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -179.18402602769785,
+            -34.60935282586604,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -179.18402602769785,
+            -37.60935282586604,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -179.18402602769785,
+            -40.60935282586604,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -179.18402602769785,
+            -43.60935282586604,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -179.18402602769785,
+            -46.60935282586604,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -179.18402602769785,
+            -49.60935282586604,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -179.18402602769785,
+            -52.60935282586604,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -179.18402602769785,
+            -55.60935282586604,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -179.18402602769785,
+            -58.60935282586604,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -179.18402602769785,
+            -61.60935282586604,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -179.18402602769785,
+            -64.60935282586604,
+            144.12572478310412
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -179.18402602769785,
+            -64.60935282586604,
+            141.12572478310412
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -192.0,
+            -88.0,
+            141.554
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_sh/astar_data/high_long/2025-01-19_06-02-23_544620/pose.jsonl

@@ -0,0 +1,639 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -127.37452230300515,
+            54.31440992216733,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931913
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -128.87452230300514,
+            51.71633371081401,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931913
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -130.37452230300514,
+            49.1182574994607,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -131.87452230300514,
+            46.52018128810738,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -133.37452230300514,
+            43.922105076754065,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -134.87452230300514,
+            41.32402886540075,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -136.37452230300514,
+            38.72595265404743,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -137.87452230300514,
+            36.12787644269412,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -139.37452230300514,
+            33.5298002313408,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -140.87452230300514,
+            30.931724019987485,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -142.37452230300514,
+            28.33364780863417,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -143.87452230300514,
+            25.735571597280853,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -145.37452230300514,
+            23.137495385927537,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -146.87452230300514,
+            20.53941917457422,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -148.37452230300514,
+            17.941342963220904,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -149.87452230300514,
+            15.343266751867588,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -151.37452230300514,
+            12.745190540514272,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -152.87452230300514,
+            10.147114329160956,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -154.37452230300514,
+            7.5490381178076404,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -155.87452230300514,
+            4.950961906454324,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -157.37452230300514,
+            2.3528856951010084,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -158.87452230300514,
+            -0.2451905162523076,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -160.37452230300514,
+            -2.8432667276056236,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -161.87452230300514,
+            -5.44134293895894,
+            141.12572478310412
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -161.87452230300514,
+            -5.44134293895894,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -163.37452230300514,
+            -8.039419150312256,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -164.87452230300514,
+            -10.637495361665572,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -166.37452230300514,
+            -13.235571573018888,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -167.87452230300514,
+            -15.833647784372204,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -169.37452230300514,
+            -18.43172399572552,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -170.87452230300514,
+            -21.029800207078836,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -172.37452230300514,
+            -23.62787641843215,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -173.87452230300514,
+            -26.225952629785468,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -175.37452230300514,
+            -28.824028841138784,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -176.87452230300514,
+            -31.4221050524921,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -178.37452230300514,
+            -34.020181263845416,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -179.87452230300514,
+            -36.61825747519873,
+            144.12572478310412
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -179.87452230300514,
+            -36.61825747519873,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -179.87452230300514,
+            -39.61825747519873,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -179.87452230300514,
+            -42.61825747519873,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -179.87452230300514,
+            -45.61825747519873,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -179.87452230300514,
+            -48.61825747519873,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -179.87452230300514,
+            -51.61825747519873,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -179.87452230300514,
+            -54.61825747519873,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -179.87452230300514,
+            -57.61825747519873,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -179.87452230300514,
+            -60.61825747519873,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -179.87452230300514,
+            -63.61825747519873,
+            144.12572478310412
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -179.87452230300514,
+            -63.61825747519873,
+            141.12572478310412
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -192.0,
+            -88.0,
+            141.554
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_sh/astar_data/high_long/2025-01-19_06-21-05_867464/pose.jsonl

@@ -0,0 +1,691 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            966.3909936825328,
+            -1434.9454667736668,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            963.7929174711794,
+            -1436.4454667736668,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            961.194841259826,
+            -1437.9454667736668,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            958.5967650484727,
+            -1439.4454667736668,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            955.9986888371193,
+            -1440.9454667736668,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            953.4006126257659,
+            -1442.4454667736668,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            950.8025364144125,
+            -1443.9454667736668,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            948.2044602030592,
+            -1445.4454667736668,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            945.6063839917058,
+            -1446.9454667736668,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            943.0083077803524,
+            -1448.4454667736668,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            940.410231568999,
+            -1449.9454667736668,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            937.8121553576457,
+            -1451.4454667736668,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            935.2140791462923,
+            -1452.9454667736668,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            932.6160029349389,
+            -1454.4454667736668,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            930.0179267235856,
+            -1455.9454667736668,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            927.4198505122322,
+            -1457.4454667736668,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            924.8217743008788,
+            -1458.9454667736668,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            922.2236980895254,
+            -1460.4454667736668,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            919.6256218781721,
+            -1461.9454667736668,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            917.0275456668187,
+            -1463.4454667736668,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            914.4294694554653,
+            -1464.9454667736668,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            911.831393244112,
+            -1466.4454667736668,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            909.2333170327586,
+            -1467.9454667736668,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            906.6352408214052,
+            -1469.4454667736668,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            904.0371646100518,
+            -1470.9454667736668,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            901.4390883986985,
+            -1472.4454667736668,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            898.8410121873451,
+            -1473.9454667736668,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            896.2429359759917,
+            -1475.4454667736668,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            893.6448597646383,
+            -1476.9454667736668,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            891.046783553285,
+            -1478.4454667736668,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            888.4487073419316,
+            -1479.9454667736668,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            885.8506311305782,
+            -1481.4454667736668,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            883.2525549192248,
+            -1482.9454667736668,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            880.6544787078715,
+            -1484.4454667736668,
+            141.12572478310412
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            880.6544787078715,
+            -1484.4454667736668,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            878.0564024965181,
+            -1485.9454667736668,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            875.4583262851647,
+            -1487.4454667736668,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            872.8602500738114,
+            -1488.9454667736668,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            870.262173862458,
+            -1490.4454667736668,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            867.6640976511046,
+            -1491.9454667736668,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            865.0660214397512,
+            -1493.4454667736668,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            862.4679452283979,
+            -1494.9454667736668,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            859.8698690170445,
+            -1496.4454667736668,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            857.2717928056911,
+            -1497.9454667736668,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            854.6737165943377,
+            -1499.4454667736668,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            852.0756403829844,
+            -1500.9454667736668,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            849.477564171631,
+            -1502.4454667736668,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            846.8794879602776,
+            -1503.9454667736668,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            844.2814117489243,
+            -1505.4454667736668,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            841.6833355375709,
+            -1506.9454667736668,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            839.0852593262175,
+            -1508.4454667736668,
+            144.12572478310412
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            839.0852593262175,
+            -1508.4454667736668,
+            141.12572478310412
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            816.0,
+            -1520.0,
+            146.15
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_sh/astar_data/high_long/2025-01-19_06-25-29_430451/pose.jsonl

@@ -0,0 +1,561 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            793.0410228374909,
+            -1147.1886018505497,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            794.5410228374909,
+            -1149.786678061903,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            796.0410228374909,
+            -1152.3847542732565,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            797.5410228374909,
+            -1154.9828304846098,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            799.0410228374909,
+            -1157.5809066959632,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            800.5410228374909,
+            -1160.1789829073166,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            802.0410228374909,
+            -1162.77705911867,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            803.5410228374909,
+            -1165.3751353300233,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            805.0410228374909,
+            -1167.9732115413767,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            806.5410228374909,
+            -1170.57128775273,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            808.0410228374909,
+            -1173.1693639640835,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            809.5410228374909,
+            -1175.7674401754368,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            811.0410228374909,
+            -1178.3655163867902,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            812.5410228374909,
+            -1180.9635925981436,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            814.0410228374909,
+            -1183.561668809497,
+            141.12572478310412
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            814.0410228374909,
+            -1183.561668809497,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            814.0410228374909,
+            -1186.561668809497,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            814.0410228374909,
+            -1189.561668809497,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            814.0410228374909,
+            -1192.561668809497,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            814.0410228374909,
+            -1195.561668809497,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            814.0410228374909,
+            -1198.561668809497,
+            141.12572478310412
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            814.0410228374909,
+            -1198.561668809497,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            814.0410228374909,
+            -1201.561668809497,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            814.0410228374909,
+            -1204.561668809497,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            814.0410228374909,
+            -1207.561668809497,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            814.0410228374909,
+            -1210.561668809497,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            814.0410228374909,
+            -1213.561668809497,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            814.0410228374909,
+            -1216.561668809497,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            814.0410228374909,
+            -1219.561668809497,
+            144.12572478310412
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            814.0410228374909,
+            -1219.561668809497,
+            144.12572478310412
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            814.0410228374909,
+            -1219.561668809497,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            811.4429466261377,
+            -1221.061668809497,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            808.8448704147843,
+            -1222.561668809497,
+            144.12572478310412
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            808.8448704147843,
+            -1222.561668809497,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            807.3448704147843,
+            -1225.1597450208503,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            805.8448704147843,
+            -1227.7578212322037,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            804.3448704147843,
+            -1230.355897443557,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            802.8448704147843,
+            -1232.9539736549104,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            801.3448704147843,
+            -1235.5520498662638,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            799.8448704147843,
+            -1238.1501260776172,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            798.3448704147843,
+            -1240.7482022889706,
+            144.12572478310412
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            798.3448704147843,
+            -1240.7482022889706,
+            141.12572478310412
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            800.0,
+            -1304.0,
+            163.632
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_sh/astar_data/high_long/2025-01-19_06-29-55_502521/pose.jsonl

@@ -0,0 +1,665 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            316.2358242895011,
+            766.8700900227122,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            316.2358242895011,
+            769.8700900227122,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            316.2358242895011,
+            772.8700900227122,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            316.2358242895011,
+            775.8700900227122,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            316.2358242895011,
+            778.8700900227122,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            316.2358242895011,
+            781.8700900227122,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            316.2358242895011,
+            784.8700900227122,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            316.2358242895011,
+            787.8700900227122,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            316.2358242895011,
+            790.8700900227122,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            316.2358242895011,
+            793.8700900227122,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            316.2358242895011,
+            796.8700900227122,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            316.2358242895011,
+            799.8700900227122,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            316.2358242895011,
+            802.8700900227122,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            316.2358242895011,
+            805.8700900227122,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            316.2358242895011,
+            808.8700900227122,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            316.2358242895011,
+            811.8700900227122,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            316.2358242895011,
+            814.8700900227122,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            316.2358242895011,
+            817.8700900227122,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            316.2358242895011,
+            820.8700900227122,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            316.2358242895011,
+            823.8700900227122,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            316.2358242895011,
+            826.8700900227122,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            316.2358242895011,
+            829.8700900227122,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            316.2358242895011,
+            832.8700900227122,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            316.2358242895011,
+            835.8700900227122,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            316.2358242895011,
+            838.8700900227122,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            316.2358242895011,
+            841.8700900227122,
+            141.12572478310412
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            316.2358242895011,
+            841.8700900227122,
+            138.12572478310412
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            316.2358242895011,
+            841.8700900227122,
+            135.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            316.2358242895011,
+            844.8700900227122,
+            135.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            316.2358242895011,
+            847.8700900227122,
+            135.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            316.2358242895011,
+            850.8700900227122,
+            135.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            316.2358242895011,
+            853.8700900227122,
+            135.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            316.2358242895011,
+            856.8700900227122,
+            135.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            316.2358242895011,
+            859.8700900227122,
+            135.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            316.2358242895011,
+            862.8700900227122,
+            135.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            316.2358242895011,
+            865.8700900227122,
+            135.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            316.2358242895011,
+            868.8700900227122,
+            135.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            316.2358242895011,
+            871.8700900227122,
+            135.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            316.2358242895011,
+            874.8700900227122,
+            135.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            316.2358242895011,
+            877.8700900227122,
+            135.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            316.2358242895011,
+            880.8700900227122,
+            135.12572478310412
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            316.2358242895011,
+            880.8700900227122,
+            135.12572478310412
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            316.2358242895011,
+            880.8700900227122,
+            135.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982989
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            318.83390050085444,
+            882.3700900227122,
+            135.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            321.43197671220776,
+            883.8700900227122,
+            135.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            324.0300529235611,
+            885.3700900227122,
+            135.12572478310412
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            324.0300529235611,
+            885.3700900227122,
+            138.12572478310412
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            324.0300529235611,
+            885.3700900227122,
+            141.12572478310412
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            324.0300529235611,
+            885.3700900227122,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            325.5300529235611,
+            887.9681662340656,
+            141.12572478310412
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            332.0,
+            936.0,
+            212.714
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_sh/astar_data/high_long/2025-01-19_06-31-35_963223/pose.jsonl

@@ -0,0 +1,808 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            923.2272863593462,
+            -1636.7163939964985,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            921.7272863593462,
+            -1639.3144702078519,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            920.2272863593462,
+            -1641.9125464192052,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            918.7272863593462,
+            -1644.5106226305586,
+            141.12572478310412
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            918.7272863593462,
+            -1644.5106226305586,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            918.7272863593462,
+            -1647.5106226305586,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            918.7272863593462,
+            -1650.5106226305586,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            918.7272863593462,
+            -1653.5106226305586,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            918.7272863593462,
+            -1656.5106226305586,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            918.7272863593462,
+            -1659.5106226305586,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            918.7272863593462,
+            -1662.5106226305586,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            918.7272863593462,
+            -1665.5106226305586,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            918.7272863593462,
+            -1668.5106226305586,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            918.7272863593462,
+            -1671.5106226305586,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            918.7272863593462,
+            -1674.5106226305586,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            918.7272863593462,
+            -1677.5106226305586,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            918.7272863593462,
+            -1680.5106226305586,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            918.7272863593462,
+            -1683.5106226305586,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            918.7272863593462,
+            -1686.5106226305586,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            918.7272863593462,
+            -1689.5106226305586,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            918.7272863593462,
+            -1692.5106226305586,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            918.7272863593462,
+            -1695.5106226305586,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            918.7272863593462,
+            -1698.5106226305586,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            918.7272863593462,
+            -1701.5106226305586,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            918.7272863593462,
+            -1704.5106226305586,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            918.7272863593462,
+            -1707.5106226305586,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            918.7272863593462,
+            -1710.5106226305586,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            918.7272863593462,
+            -1713.5106226305586,
+            141.12572478310412
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            918.7272863593462,
+            -1713.5106226305586,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            917.2272863593462,
+            -1716.108698841912,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            915.7272863593462,
+            -1718.7067750532653,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            914.2272863593462,
+            -1721.3048512646187,
+            141.12572478310412
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            914.2272863593462,
+            -1721.3048512646187,
+            144.12572478310412
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            914.2272863593462,
+            -1721.3048512646187,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            911.6292101479928,
+            -1722.8048512646187,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            909.0311339366394,
+            -1724.3048512646187,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            906.4330577252861,
+            -1725.8048512646187,
+            144.12572478310412
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            906.4330577252861,
+            -1725.8048512646187,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            904.9330577252861,
+            -1728.402927475972,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            903.4330577252861,
+            -1731.0010036873255,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            901.9330577252861,
+            -1733.5990798986788,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            900.4330577252861,
+            -1736.1971561100322,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            898.9330577252861,
+            -1738.7952323213856,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            897.4330577252861,
+            -1741.393308532739,
+            144.12572478310412
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            897.4330577252861,
+            -1741.393308532739,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            894.8349815139327,
+            -1742.893308532739,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            892.2369053025793,
+            -1744.393308532739,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            889.638829091226,
+            -1745.893308532739,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            887.0407528798726,
+            -1747.393308532739,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            884.4426766685192,
+            -1748.893308532739,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            881.8446004571658,
+            -1750.393308532739,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            879.2465242458125,
+            -1751.893308532739,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            876.6484480344591,
+            -1753.393308532739,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            874.0503718231057,
+            -1754.893308532739,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            871.4522956117523,
+            -1756.393308532739,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            868.854219400399,
+            -1757.893308532739,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            866.2561431890456,
+            -1759.393308532739,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            863.6580669776922,
+            -1760.893308532739,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            861.0599907663388,
+            -1762.393308532739,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            858.4619145549855,
+            -1763.893308532739,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            855.8638383436321,
+            -1765.393308532739,
+            144.12572478310412
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            844.0,
+            -1788.0,
+            165.84
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_sh/astar_data/high_long/2025-01-19_06-51-30_837028/pose.jsonl

@@ -0,0 +1,691 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -197.24331765510095,
+            -57.048175440030775,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -194.24331765510095,
+            -57.048175440030775,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -191.24331765510095,
+            -57.048175440030775,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -188.24331765510095,
+            -57.048175440030775,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -185.24331765510095,
+            -57.048175440030775,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -182.24331765510095,
+            -57.048175440030775,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -179.24331765510095,
+            -57.048175440030775,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -176.24331765510095,
+            -57.048175440030775,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -173.24331765510095,
+            -57.048175440030775,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -170.24331765510095,
+            -57.048175440030775,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -167.24331765510095,
+            -57.048175440030775,
+            141.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -164.24331765510095,
+            -57.048175440030775,
+            141.12572478310412
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -164.24331765510095,
+            -57.048175440030775,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -161.24331765510095,
+            -57.048175440030775,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -158.24331765510095,
+            -57.048175440030775,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -155.24331765510095,
+            -57.048175440030775,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -152.24331765510095,
+            -57.048175440030775,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -149.24331765510095,
+            -57.048175440030775,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -146.24331765510095,
+            -57.048175440030775,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -143.24331765510095,
+            -57.048175440030775,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -140.24331765510095,
+            -57.048175440030775,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -137.24331765510095,
+            -57.048175440030775,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -134.24331765510095,
+            -57.048175440030775,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -131.24331765510095,
+            -57.048175440030775,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -128.24331765510095,
+            -57.048175440030775,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -125.24331765510095,
+            -57.048175440030775,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -122.24331765510095,
+            -57.048175440030775,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -119.24331765510095,
+            -57.048175440030775,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -116.24331765510095,
+            -57.048175440030775,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -113.24331765510095,
+            -57.048175440030775,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -110.24331765510095,
+            -57.048175440030775,
+            144.12572478310412
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -110.24331765510095,
+            -57.048175440030775,
+            144.12572478310412
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -110.24331765510095,
+            -57.048175440030775,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -108.74331765510095,
+            -54.45009922867746,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -107.24331765510095,
+            -51.85202301732414,
+            144.12572478310412
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -107.24331765510095,
+            -51.85202301732414,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -104.64524144374764,
+            -50.35202301732414,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -102.04716523239432,
+            -48.85202301732414,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -99.449089021041,
+            -47.35202301732414,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -96.85101280968769,
+            -45.85202301732414,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -94.25293659833437,
+            -44.35202301732414,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -91.65486038698106,
+            -42.85202301732414,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -89.05678417562774,
+            -41.35202301732414,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -86.45870796427442,
+            -39.85202301732414,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -83.86063175292111,
+            -38.35202301732414,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -81.26255554156779,
+            -36.85202301732414,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -78.66447933021448,
+            -35.35202301732414,
+            144.12572478310412
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -78.66447933021448,
+            -35.35202301732414,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -75.66447933021448,
+            -35.35202301732414,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -72.66447933021448,
+            -35.35202301732414,
+            144.12572478310412
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -69.66447933021448,
+            -35.35202301732414,
+            144.12572478310412
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -69.66447933021448,
+            -35.35202301732414,
+            141.12572478310412
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -36.0,
+            -28.0,
+            212.257
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}