Add files using upload-large-folder tool

Image/env_airsim_26/astar_data/medium_average/2025-01-19_00-59-48_184734/pose.jsonl

@@ -0,0 +1,626 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1006.935497342538,
+            -1866.5719285610226,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1008.435497342538,
+            -1869.170004772376,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1009.935497342538,
+            -1871.7680809837293,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1011.435497342538,
+            -1874.3661571950827,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1012.935497342538,
+            -1876.964233406436,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1014.435497342538,
+            -1879.5623096177894,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1015.935497342538,
+            -1882.1603858291428,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1017.435497342538,
+            -1884.7584620404962,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1018.935497342538,
+            -1887.3565382518495,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1020.435497342538,
+            -1889.954614463203,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1021.935497342538,
+            -1892.5526906745563,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1023.435497342538,
+            -1895.1507668859097,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1024.9354973425382,
+            -1897.748843097263,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965743
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1026.4354973425382,
+            -1900.3469193086164,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1027.9354973425382,
+            -1902.9449955199698,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1029.4354973425382,
+            -1905.5430717313232,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1030.9354973425382,
+            -1908.1411479426765,
+            -285.03212597454063
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1030.9354973425382,
+            -1908.1411479426765,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1032.4354973425382,
+            -1910.73922415403,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1033.9354973425382,
+            -1913.3373003653833,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1035.4354973425382,
+            -1915.9353765767366,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1036.9354973425382,
+            -1918.53345278809,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1038.4354973425382,
+            -1921.1315289994434,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1039.9354973425382,
+            -1923.7296052107968,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1041.4354973425382,
+            -1926.3276814221501,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1042.9354973425382,
+            -1928.9257576335035,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1044.4354973425382,
+            -1931.5238338448569,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1045.9354973425382,
+            -1934.1219100562103,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1047.4354973425382,
+            -1936.7199862675636,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1048.9354973425382,
+            -1939.318062478917,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1050.4354973425382,
+            -1941.9161386902704,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1051.9354973425382,
+            -1944.5142149016237,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1053.4354973425382,
+            -1947.1122911129771,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1054.9354973425382,
+            -1949.7103673243305,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1056.4354973425382,
+            -1952.3084435356839,
+            -282.03212597454063
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1056.4354973425382,
+            -1952.3084435356839,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1056.4354973425382,
+            -1955.3084435356839,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1056.4354973425382,
+            -1958.3084435356839,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1056.4354973425382,
+            -1961.3084435356839,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1056.4354973425382,
+            -1964.3084435356839,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1056.4354973425382,
+            -1967.3084435356839,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1056.4354973425382,
+            -1970.3084435356839,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1056.4354973425382,
+            -1973.3084435356839,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1056.4354973425382,
+            -1976.3084435356839,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1056.4354973425382,
+            -1979.3084435356839,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1056.4354973425382,
+            -1982.3084435356839,
+            -282.03212597454063
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1056.4354973425382,
+            -1982.3084435356839,
+            -285.03212597454063
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1060.0,
+            -1996.0,
+            -262.828
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_26/astar_data/medium_average/2025-01-19_01-01-42_228098/pose.jsonl

@@ -0,0 +1,678 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1441.008494287283,
+            -2988.0323483623624,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1438.4104180759296,
+            -2986.5323483623624,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1435.8123418645762,
+            -2985.0323483623624,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1433.2142656532228,
+            -2983.5323483623624,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1430.6161894418694,
+            -2982.0323483623624,
+            -285.03212597454063
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1430.6161894418694,
+            -2982.0323483623624,
+            -282.03212597454063
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1430.6161894418694,
+            -2982.0323483623624,
+            -279.03212597454063
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1430.6161894418694,
+            -2982.0323483623624,
+            -276.03212597454063
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1430.6161894418694,
+            -2982.0323483623624,
+            -273.03212597454063
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1430.6161894418694,
+            -2982.0323483623624,
+            -270.03212597454063
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1430.6161894418694,
+            -2982.0323483623624,
+            -267.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1428.018113230516,
+            -2980.5323483623624,
+            -267.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1425.4200370191627,
+            -2979.0323483623624,
+            -267.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1422.8219608078093,
+            -2977.5323483623624,
+            -267.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1420.223884596456,
+            -2976.0323483623624,
+            -267.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1417.6258083851026,
+            -2974.5323483623624,
+            -267.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1415.0277321737492,
+            -2973.0323483623624,
+            -267.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1412.4296559623958,
+            -2971.5323483623624,
+            -267.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1409.8315797510425,
+            -2970.0323483623624,
+            -267.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1407.233503539689,
+            -2968.5323483623624,
+            -267.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1404.6354273283357,
+            -2967.0323483623624,
+            -267.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1402.0373511169823,
+            -2965.5323483623624,
+            -267.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1399.439274905629,
+            -2964.0323483623624,
+            -267.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1396.8411986942756,
+            -2962.5323483623624,
+            -267.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1394.2431224829222,
+            -2961.0323483623624,
+            -267.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1391.6450462715688,
+            -2959.5323483623624,
+            -267.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1389.0469700602155,
+            -2958.0323483623624,
+            -267.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1386.448893848862,
+            -2956.5323483623624,
+            -267.03212597454063
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1386.448893848862,
+            -2956.5323483623624,
+            -267.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1383.448893848862,
+            -2956.5323483623624,
+            -267.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1380.448893848862,
+            -2956.5323483623624,
+            -267.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1377.448893848862,
+            -2956.5323483623624,
+            -267.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1374.448893848862,
+            -2956.5323483623624,
+            -267.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1371.448893848862,
+            -2956.5323483623624,
+            -267.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1368.448893848862,
+            -2956.5323483623624,
+            -267.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1365.448893848862,
+            -2956.5323483623624,
+            -267.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1362.448893848862,
+            -2956.5323483623624,
+            -267.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1359.448893848862,
+            -2956.5323483623624,
+            -267.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1356.448893848862,
+            -2956.5323483623624,
+            -267.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1353.448893848862,
+            -2956.5323483623624,
+            -267.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1350.448893848862,
+            -2956.5323483623624,
+            -267.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1347.448893848862,
+            -2956.5323483623624,
+            -267.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1344.448893848862,
+            -2956.5323483623624,
+            -267.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1341.448893848862,
+            -2956.5323483623624,
+            -267.03212597454063
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1341.448893848862,
+            -2956.5323483623624,
+            -270.03212597454063
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1341.448893848862,
+            -2956.5323483623624,
+            -273.03212597454063
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1341.448893848862,
+            -2956.5323483623624,
+            -276.03212597454063
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1341.448893848862,
+            -2956.5323483623624,
+            -279.03212597454063
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1341.448893848862,
+            -2956.5323483623624,
+            -282.03212597454063
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1341.448893848862,
+            -2956.5323483623624,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            1338.448893848862,
+            -2956.5323483623624,
+            -285.03212597454063
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1308.0,
+            -2948.0,
+            -257.331
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_26/astar_data/medium_average/2025-01-19_01-06-10_534862/pose.jsonl

@@ -0,0 +1,496 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1319.6979471008576,
+            -2820.379231940868,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1319.6979471008576,
+            -2823.379231940868,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1319.6979471008576,
+            -2826.379231940868,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1319.6979471008576,
+            -2829.379231940868,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1319.6979471008576,
+            -2832.379231940868,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1319.6979471008576,
+            -2835.379231940868,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1319.6979471008576,
+            -2838.379231940868,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1319.6979471008576,
+            -2841.379231940868,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1319.6979471008576,
+            -2844.379231940868,
+            -285.03212597454063
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1319.6979471008576,
+            -2844.379231940868,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1319.6979471008576,
+            -2847.379231940868,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1319.6979471008576,
+            -2850.379231940868,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1319.6979471008576,
+            -2853.379231940868,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1319.6979471008576,
+            -2856.379231940868,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1319.6979471008576,
+            -2859.379231940868,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1319.6979471008576,
+            -2862.379231940868,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1319.6979471008576,
+            -2865.379231940868,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1319.6979471008576,
+            -2868.379231940868,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1319.6979471008576,
+            -2871.379231940868,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1319.6979471008576,
+            -2874.379231940868,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1319.6979471008576,
+            -2877.379231940868,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1319.6979471008576,
+            -2880.379231940868,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1319.6979471008576,
+            -2883.379231940868,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1319.6979471008576,
+            -2886.379231940868,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1319.6979471008576,
+            -2889.379231940868,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1319.6979471008576,
+            -2892.379231940868,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1319.6979471008576,
+            -2895.379231940868,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1319.6979471008576,
+            -2898.379231940868,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1319.6979471008576,
+            -2901.379231940868,
+            -282.03212597454063
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1319.6979471008576,
+            -2901.379231940868,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1318.1979471008576,
+            -2903.977308152221,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1316.6979471008576,
+            -2906.5753843635744,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1315.1979471008576,
+            -2909.1734605749275,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1313.6979471008576,
+            -2911.7715367862806,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1312.1979471008576,
+            -2914.369612997634,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1310.6979471008576,
+            -2916.967689208987,
+            -282.03212597454063
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1310.6979471008576,
+            -2916.967689208987,
+            -285.03212597454063
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1308.0,
+            -2948.0,
+            -257.331
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_26/astar_data/medium_average/2025-01-19_01-08-37_418380/pose.jsonl

@@ -0,0 +1,457 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1310.173024357219,
+            -2831.425510937499,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1308.673024357219,
+            -2834.023587148852,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1307.173024357219,
+            -2836.6216633602053,
+            -285.03212597454063
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1307.173024357219,
+            -2836.6216633602053,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1305.673024357219,
+            -2839.2197395715584,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1304.173024357219,
+            -2841.8178157829116,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1302.673024357219,
+            -2844.4158919942647,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1301.173024357219,
+            -2847.013968205618,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1299.673024357219,
+            -2849.612044416971,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1298.173024357219,
+            -2852.210120628324,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1296.673024357219,
+            -2854.8081968396773,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1295.173024357219,
+            -2857.4062730510304,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1293.673024357219,
+            -2860.0043492623836,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1292.173024357219,
+            -2862.6024254737367,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1290.673024357219,
+            -2865.20050168509,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1289.173024357219,
+            -2867.798577896443,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1287.673024357219,
+            -2870.396654107796,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1286.173024357219,
+            -2872.9947303191493,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1284.673024357219,
+            -2875.5928065305025,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1283.173024357219,
+            -2878.1908827418556,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1281.673024357219,
+            -2880.7889589532087,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1280.173024357219,
+            -2883.387035164562,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1278.673024357219,
+            -2885.985111375915,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1277.173024357219,
+            -2888.583187587268,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1275.673024357219,
+            -2891.1812637986213,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1274.173024357219,
+            -2893.7793400099745,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1272.673024357219,
+            -2896.3774162213276,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1271.173024357219,
+            -2898.9754924326808,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1269.673024357219,
+            -2901.573568644034,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1268.173024357219,
+            -2904.171644855387,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1266.673024357219,
+            -2906.76972106674,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1265.173024357219,
+            -2909.3677972780933,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1263.673024357219,
+            -2911.9658734894465,
+            -282.03212597454063
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1263.673024357219,
+            -2911.9658734894465,
+            -285.03212597454063
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1240.0,
+            -2948.0,
+            -292.992
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_26/astar_data/medium_average/2025-01-19_01-12-20_683343/pose.jsonl

@@ -0,0 +1,210 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -146.71344263090214,
+            -2453.7242712540856,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -146.71344263090214,
+            -2456.7242712540856,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -146.71344263090214,
+            -2459.7242712540856,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -146.71344263090214,
+            -2462.7242712540856,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -146.71344263090214,
+            -2465.7242712540856,
+            -285.03212597454063
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -146.71344263090214,
+            -2465.7242712540856,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -148.21344263090214,
+            -2468.3223474654387,
+            -285.03212597454063
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -148.21344263090214,
+            -2468.3223474654387,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -149.71344263090214,
+            -2470.920423676792,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -151.21344263090214,
+            -2473.518499888145,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -152.71344263090214,
+            -2476.116576099498,
+            -282.03212597454063
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -152.71344263090214,
+            -2476.116576099498,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.570796326794925
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -152.71344263090214,
+            -2479.116576099498,
+            -282.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -152.71344263090214,
+            -2482.116576099498,
+            -282.03212597454063
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -152.71344263090214,
+            -2482.116576099498,
+            -285.03212597454063
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -172.0,
+            -2564.0,
+            -293.792
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_26/astar_data/medium_average/2025-1-9_11-42-36_1365180540/pose.jsonl

@@ -0,0 +1,457 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1041.2611233252157,
+            -2257.5474566031994,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1043.8591995365691,
+            -2259.0474566031994,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1046.4572757479225,
+            -2260.5474566031994,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1049.0553519592759,
+            -2262.0474566031994,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1051.6534281706292,
+            -2263.5474566031994,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1054.2515043819826,
+            -2265.0474566031994,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1056.849580593336,
+            -2266.5474566031994,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1059.4476568046894,
+            -2268.0474566031994,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1062.0457330160427,
+            -2269.5474566031994,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1064.643809227396,
+            -2271.0474566031994,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1067.2418854387495,
+            -2272.5474566031994,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1069.8399616501029,
+            -2274.0474566031994,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1072.4380378614562,
+            -2275.5474566031994,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1075.0361140728096,
+            -2277.0474566031994,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1077.634190284163,
+            -2278.5474566031994,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1080.2322664955163,
+            -2280.0474566031994,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1082.8303427068697,
+            -2281.5474566031994,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1085.428418918223,
+            -2283.0474566031994,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1088.0264951295765,
+            -2284.5474566031994,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1090.6245713409298,
+            -2286.0474566031994,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1093.2226475522832,
+            -2287.5474566031994,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1095.8207237636366,
+            -2289.0474566031994,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1098.41879997499,
+            -2290.5474566031994,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1101.0168761863433,
+            -2292.0474566031994,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1103.6149523976967,
+            -2293.5474566031994,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1106.21302860905,
+            -2295.0474566031994,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1108.8111048204034,
+            -2296.5474566031994,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1111.4091810317568,
+            -2298.0474566031994,
+            -285.03212597454063
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1111.4091810317568,
+            -2298.0474566031994,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1114.4091810317568,
+            -2298.0474566031994,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1117.4091810317568,
+            -2298.0474566031994,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1120.4091810317568,
+            -2298.0474566031994,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1123.4091810317568,
+            -2298.0474566031994,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1126.4091810317568,
+            -2298.0474566031994,
+            -285.03212597454063
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1156.0,
+            -2312.0,
+            -213.669
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_26/astar_data/medium_average/2025-1-9_11-45-16_1726956429/pose.jsonl

@@ -0,0 +1,548 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -818.8788791304306,
+            -2238.182952762886,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -815.8788791304306,
+            -2238.182952762886,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -812.8788791304306,
+            -2238.182952762886,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -809.8788791304306,
+            -2238.182952762886,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -806.8788791304306,
+            -2238.182952762886,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -803.8788791304306,
+            -2238.182952762886,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -800.8788791304306,
+            -2238.182952762886,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -797.8788791304306,
+            -2238.182952762886,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -794.8788791304306,
+            -2238.182952762886,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -791.8788791304306,
+            -2238.182952762886,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -788.8788791304306,
+            -2238.182952762886,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -785.8788791304306,
+            -2238.182952762886,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -782.8788791304306,
+            -2238.182952762886,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -779.8788791304306,
+            -2238.182952762886,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -776.8788791304306,
+            -2238.182952762886,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -773.8788791304306,
+            -2238.182952762886,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -770.8788791304306,
+            -2238.182952762886,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -767.8788791304306,
+            -2238.182952762886,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -764.8788791304306,
+            -2238.182952762886,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -761.8788791304306,
+            -2238.182952762886,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -758.8788791304306,
+            -2238.182952762886,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -755.8788791304306,
+            -2238.182952762886,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -752.8788791304306,
+            -2238.182952762886,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -749.8788791304306,
+            -2238.182952762886,
+            -285.03212597454063
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -749.8788791304306,
+            -2238.182952762886,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -747.2808029190774,
+            -2236.682952762886,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -744.682726707724,
+            -2235.182952762886,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -742.0846504963706,
+            -2233.682952762886,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -739.4865742850172,
+            -2232.182952762886,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -736.8884980736639,
+            -2230.682952762886,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -734.2904218623105,
+            -2229.182952762886,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -731.6923456509571,
+            -2227.682952762886,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -729.0942694396037,
+            -2226.182952762886,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -726.4961932282504,
+            -2224.682952762886,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -723.898117016897,
+            -2223.182952762886,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -721.3000408055436,
+            -2221.682952762886,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -718.7019645941903,
+            -2220.182952762886,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -716.1038883828369,
+            -2218.682952762886,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -713.5058121714835,
+            -2217.182952762886,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -710.9077359601301,
+            -2215.682952762886,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -708.3096597487768,
+            -2214.182952762886,
+            -285.03212597454063
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -680.0,
+            -2208.0,
+            -225.684
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_26/astar_data/medium_average/2025-1-9_12-25-47_1713258270/pose.jsonl

@@ -0,0 +1,535 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -666.5319217714142,
+            -2019.7961121711926,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -668.0319217714142,
+            -2017.1980359598392,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -669.5319217714142,
+            -2014.5999597484858,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -671.0319217714142,
+            -2012.0018835371325,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -672.5319217714142,
+            -2009.403807325779,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -674.0319217714142,
+            -2006.8057311144257,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -675.5319217714142,
+            -2004.2076549030724,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -677.0319217714142,
+            -2001.609578691719,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -678.5319217714142,
+            -1999.0115024803656,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -680.0319217714142,
+            -1996.4134262690122,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -681.5319217714142,
+            -1993.8153500576589,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -683.0319217714142,
+            -1991.2172738463055,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -684.5319217714142,
+            -1988.6191976349521,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -686.0319217714142,
+            -1986.0211214235987,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -687.5319217714142,
+            -1983.4230452122454,
+            -285.03212597454063
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -687.5319217714142,
+            -1983.4230452122454,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -687.5319217714142,
+            -1980.4230452122454,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -687.5319217714142,
+            -1977.4230452122454,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -687.5319217714142,
+            -1974.4230452122454,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -687.5319217714142,
+            -1971.4230452122454,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -687.5319217714142,
+            -1968.4230452122454,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -687.5319217714142,
+            -1965.4230452122454,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -687.5319217714142,
+            -1962.4230452122454,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -687.5319217714142,
+            -1959.4230452122454,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -687.5319217714142,
+            -1956.4230452122454,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -687.5319217714142,
+            -1953.4230452122454,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -687.5319217714142,
+            -1950.4230452122454,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -687.5319217714142,
+            -1947.4230452122454,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -687.5319217714142,
+            -1944.4230452122454,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -687.5319217714142,
+            -1941.4230452122454,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -687.5319217714142,
+            -1938.4230452122454,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -687.5319217714142,
+            -1935.4230452122454,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -687.5319217714142,
+            -1932.4230452122454,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -687.5319217714142,
+            -1929.4230452122454,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -687.5319217714142,
+            -1926.4230452122454,
+            -285.03212597454063
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -687.5319217714142,
+            -1926.4230452122454,
+            -285.03212597454063
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -687.5319217714142,
+            -1926.4230452122454,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -690.1299979827675,
+            -1924.9230452122454,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -692.7280741941208,
+            -1923.4230452122454,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -695.3261504054742,
+            -1921.9230452122454,
+            -285.03212597454063
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -704.0,
+            -1896.0,
+            -203.555
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_26/astar_data/medium_average/2025-1-9_12-5-2_1889947178/pose.jsonl

@@ -0,0 +1,639 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1005.9414061112795,
+            -2816.5511842142378,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1004.4414061112795,
+            -2819.149260425591,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1002.9414061112795,
+            -2821.747336636944,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1001.4414061112795,
+            -2824.345412848297,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -999.9414061112795,
+            -2826.9434890596503,
+            -285.03212597454063
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -999.9414061112795,
+            -2826.9434890596503,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948681
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -999.9414061112795,
+            -2829.9434890596503,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -999.9414061112795,
+            -2832.9434890596503,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -999.9414061112795,
+            -2835.9434890596503,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -999.9414061112795,
+            -2838.9434890596503,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -999.9414061112795,
+            -2841.9434890596503,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -999.9414061112795,
+            -2844.9434890596503,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -999.9414061112795,
+            -2847.9434890596503,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -999.9414061112795,
+            -2850.9434890596503,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -999.9414061112795,
+            -2853.9434890596503,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -999.9414061112795,
+            -2856.9434890596503,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -999.9414061112795,
+            -2859.9434890596503,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -999.9414061112795,
+            -2862.9434890596503,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -999.9414061112795,
+            -2865.9434890596503,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -999.9414061112795,
+            -2868.9434890596503,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -999.9414061112795,
+            -2871.9434890596503,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -999.9414061112795,
+            -2874.9434890596503,
+            -285.03212597454063
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -999.9414061112795,
+            -2874.9434890596503,
+            -285.03212597454063
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -999.9414061112795,
+            -2874.9434890596503,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982989
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -997.3433298999262,
+            -2876.4434890596503,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -994.7452536885728,
+            -2877.9434890596503,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -992.1471774772194,
+            -2879.4434890596503,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -989.549101265866,
+            -2880.9434890596503,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -986.9510250545127,
+            -2882.4434890596503,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -984.3529488431593,
+            -2883.9434890596503,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -981.7548726318059,
+            -2885.4434890596503,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -979.1567964204526,
+            -2886.9434890596503,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -976.5587202090992,
+            -2888.4434890596503,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -973.9606439977458,
+            -2889.9434890596503,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -971.3625677863924,
+            -2891.4434890596503,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -968.7644915750391,
+            -2892.9434890596503,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -966.1664153636857,
+            -2894.4434890596503,
+            -285.03212597454063
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -966.1664153636857,
+            -2894.4434890596503,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -964.6664153636857,
+            -2897.0415652710035,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -963.1664153636857,
+            -2899.6396414823566,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -961.6664153636857,
+            -2902.23771769371,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -960.1664153636857,
+            -2904.835793905063,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -958.6664153636857,
+            -2907.433870116416,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -957.1664153636857,
+            -2910.031946327769,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -955.6664153636857,
+            -2912.6300225391224,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -954.1664153636857,
+            -2915.2280987504755,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -952.6664153636857,
+            -2917.8261749618287,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -951.1664153636857,
+            -2920.424251173182,
+            -285.03212597454063
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -940.0,
+            -2936.0,
+            -205.779
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_26/astar_data/medium_average/2025-1-9_12-54-58_740759355/pose.jsonl

@@ -0,0 +1,379 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -569.6338033949828,
+            -1802.948533706054,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -569.6338033949828,
+            -1799.948533706054,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -569.6338033949828,
+            -1796.948533706054,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -569.6338033949828,
+            -1793.948533706054,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -569.6338033949828,
+            -1790.948533706054,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -569.6338033949828,
+            -1787.948533706054,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -569.6338033949828,
+            -1784.948533706054,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -569.6338033949828,
+            -1781.948533706054,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -569.6338033949828,
+            -1778.948533706054,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -569.6338033949828,
+            -1775.948533706054,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -569.6338033949828,
+            -1772.948533706054,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -569.6338033949828,
+            -1769.948533706054,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -569.6338033949828,
+            -1766.948533706054,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -569.6338033949828,
+            -1763.948533706054,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -569.6338033949828,
+            -1760.948533706054,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -569.6338033949828,
+            -1757.948533706054,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -569.6338033949828,
+            -1754.948533706054,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -569.6338033949828,
+            -1751.948533706054,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -569.6338033949828,
+            -1748.948533706054,
+            -285.03212597454063
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -569.6338033949828,
+            -1748.948533706054,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -571.1338033949828,
+            -1746.3504574947005,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -572.6338033949828,
+            -1743.7523812833472,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -574.1338033949828,
+            -1741.1543050719938,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -575.6338033949828,
+            -1738.5562288606404,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -577.1338033949828,
+            -1735.958152649287,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -578.6338033949828,
+            -1733.3600764379337,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -580.1338033949828,
+            -1730.7620002265803,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -581.6338033949828,
+            -1728.163924015227,
+            -285.03212597454063
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -592.0,
+            -1688.0,
+            -297.039
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_26/astar_data/medium_average/2025-1-9_12-55-14_1285228804/pose.jsonl

@@ -0,0 +1,613 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -685.0036103413964,
+            -1548.5812060061407,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -682.0036103413964,
+            -1548.5812060061407,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -679.0036103413964,
+            -1548.5812060061407,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -676.0036103413964,
+            -1548.5812060061407,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -673.0036103413964,
+            -1548.5812060061407,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -670.0036103413964,
+            -1548.5812060061407,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -667.0036103413964,
+            -1548.5812060061407,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -664.0036103413964,
+            -1548.5812060061407,
+            -285.03212597454063
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -664.0036103413964,
+            -1548.5812060061407,
+            -285.03212597454063
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -664.0036103413964,
+            -1548.5812060061407,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -662.5036103413964,
+            -1551.1792822174941,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -661.0036103413964,
+            -1553.7773584288475,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -659.5036103413964,
+            -1556.3754346402009,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -658.0036103413964,
+            -1558.9735108515542,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -656.5036103413964,
+            -1561.5715870629076,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -655.0036103413964,
+            -1564.169663274261,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -653.5036103413964,
+            -1566.7677394856144,
+            -285.03212597454063
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -653.5036103413964,
+            -1566.7677394856144,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -650.9055341300432,
+            -1568.2677394856144,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -648.3074579186898,
+            -1569.7677394856144,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -645.7093817073364,
+            -1571.2677394856144,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -643.1113054959831,
+            -1572.7677394856144,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -640.5132292846297,
+            -1574.2677394856144,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -637.9151530732763,
+            -1575.7677394856144,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -635.3170768619229,
+            -1577.2677394856144,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -632.7190006505696,
+            -1578.7677394856144,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -630.1209244392162,
+            -1580.2677394856144,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -627.5228482278628,
+            -1581.7677394856144,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -624.9247720165095,
+            -1583.2677394856144,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -622.3266958051561,
+            -1584.7677394856144,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -619.7286195938027,
+            -1586.2677394856144,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -617.1305433824493,
+            -1587.7677394856144,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -614.532467171096,
+            -1589.2677394856144,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -611.9343909597426,
+            -1590.7677394856144,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -609.3363147483892,
+            -1592.2677394856144,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -606.7382385370358,
+            -1593.7677394856144,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -604.1401623256825,
+            -1595.2677394856144,
+            -285.03212597454063
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -604.1401623256825,
+            -1595.2677394856144,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -602.6401623256825,
+            -1597.8658156969677,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -601.1401623256825,
+            -1600.463891908321,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -599.6401623256825,
+            -1603.0619681196745,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -598.1401623256825,
+            -1605.6600443310278,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -596.6401623256825,
+            -1608.2581205423812,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -595.1401623256825,
+            -1610.8561967537346,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -593.6401623256825,
+            -1613.454272965088,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -592.1401623256825,
+            -1616.0523491764413,
+            -285.03212597454063
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -576.0,
+            -1628.0,
+            -294.137
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_26/astar_data/medium_average/2025-1-9_13-12-24_2058657199/pose.jsonl

@@ -0,0 +1,379 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -989.5419013890422,
+            -2781.5538614752536,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -992.1399776003955,
+            -2780.0538614752536,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -994.7380538117488,
+            -2778.5538614752536,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -997.3361300231022,
+            -2777.0538614752536,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -999.9342062344556,
+            -2775.5538614752536,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1002.532282445809,
+            -2774.0538614752536,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1005.1303586571623,
+            -2772.5538614752536,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1007.7284348685157,
+            -2771.0538614752536,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1010.3265110798691,
+            -2769.5538614752536,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1012.9245872912225,
+            -2768.0538614752536,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1015.5226635025758,
+            -2766.5538614752536,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1018.1207397139292,
+            -2765.0538614752536,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1020.7188159252826,
+            -2763.5538614752536,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1023.3168921366359,
+            -2762.0538614752536,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1025.9149683479893,
+            -2760.5538614752536,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1028.5130445593427,
+            -2759.0538614752536,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1031.111120770696,
+            -2757.5538614752536,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1033.7091969820494,
+            -2756.0538614752536,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1036.3072731934028,
+            -2754.5538614752536,
+            -285.03212597454063
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1036.3072731934028,
+            -2754.5538614752536,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1039.3072731934028,
+            -2754.5538614752536,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1042.3072731934028,
+            -2754.5538614752536,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1045.3072731934028,
+            -2754.5538614752536,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1048.3072731934028,
+            -2754.5538614752536,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1051.3072731934028,
+            -2754.5538614752536,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1054.3072731934028,
+            -2754.5538614752536,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1057.3072731934028,
+            -2754.5538614752536,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1060.3072731934028,
+            -2754.5538614752536,
+            -285.03212597454063
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1096.0,
+            -2744.0,
+            -286.585
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_26/astar_data/medium_average/2025-1-9_13-39-40_726371155/pose.jsonl

@@ -0,0 +1,262 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            351.5628168866958,
+            -2279.214944166708,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            348.9647406753425,
+            -2277.714944166708,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            346.3666644639892,
+            -2276.214944166708,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            343.7685882526359,
+            -2274.714944166708,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            341.17051204128256,
+            -2273.214944166708,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            338.57243582992925,
+            -2271.714944166708,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            335.97435961857593,
+            -2270.214944166708,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            333.3762834072226,
+            -2268.714944166708,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            330.7782071958693,
+            -2267.214944166708,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            328.180130984516,
+            -2265.714944166708,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            325.58205477316267,
+            -2264.214944166708,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            322.98397856180935,
+            -2262.714944166708,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            320.38590235045604,
+            -2261.214944166708,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            317.7878261391027,
+            -2259.714944166708,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            315.1897499277494,
+            -2258.214944166708,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            312.5916737163961,
+            -2256.714944166708,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            309.99359750504277,
+            -2255.214944166708,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            307.39552129368946,
+            -2253.714944166708,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            304.79744508233614,
+            -2252.214944166708,
+            -285.03212597454063
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            240.0,
+            -2208.0,
+            -293.456
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_26/astar_data/medium_average/2025-1-9_13-45-36_213801961/pose.jsonl

@@ -0,0 +1,509 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            193.06850908514224,
+            -2350.370909940189,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            194.56850908514224,
+            -2347.772833728836,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            196.06850908514224,
+            -2345.1747575174827,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            197.56850908514224,
+            -2342.5766813061296,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            199.06850908514224,
+            -2339.9786050947764,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            200.56850908514224,
+            -2337.3805288834233,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            202.06850908514224,
+            -2334.78245267207,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            203.56850908514224,
+            -2332.184376460717,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            205.06850908514224,
+            -2329.586300249364,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            206.56850908514224,
+            -2326.9882240380107,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            208.06850908514224,
+            -2324.3901478266575,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            209.56850908514224,
+            -2321.7920716153044,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            211.06850908514224,
+            -2319.1939954039512,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            212.56850908514224,
+            -2316.595919192598,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            214.06850908514224,
+            -2313.997842981245,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            215.56850908514224,
+            -2311.399766769892,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            217.06850908514224,
+            -2308.8016905585387,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            218.56850908514224,
+            -2306.2036143471855,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            220.06850908514224,
+            -2303.6055381358324,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            221.56850908514224,
+            -2301.0074619244792,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            223.06850908514224,
+            -2298.409385713126,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            224.56850908514224,
+            -2295.811309501773,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            226.06850908514224,
+            -2293.21323329042,
+            -285.03212597454063
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            226.06850908514224,
+            -2293.21323329042,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948681
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            226.06850908514224,
+            -2290.21323329042,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            226.06850908514224,
+            -2287.21323329042,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            226.06850908514224,
+            -2284.21323329042,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            226.06850908514224,
+            -2281.21323329042,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            226.06850908514224,
+            -2278.21323329042,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            226.06850908514224,
+            -2275.21323329042,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            226.06850908514224,
+            -2272.21323329042,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            226.06850908514224,
+            -2269.21323329042,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            226.06850908514224,
+            -2266.21323329042,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            226.06850908514224,
+            -2263.21323329042,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            226.06850908514224,
+            -2260.21323329042,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            226.06850908514224,
+            -2257.21323329042,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            226.06850908514224,
+            -2254.21323329042,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            226.06850908514224,
+            -2251.21323329042,
+            -285.03212597454063
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            240.0,
+            -2208.0,
+            -293.456
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_26/astar_data/medium_average/2025-1-9_13-50-12_1242608872/pose.jsonl

@@ -0,0 +1,470 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            172.48808258786545,
+            -1993.8165605320614,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            175.08615879921877,
+            -1992.3165605320614,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            177.68423501057208,
+            -1990.8165605320614,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            180.2823112219254,
+            -1989.3165605320614,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            182.8803874332787,
+            -1987.8165605320614,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            185.47846364463203,
+            -1986.3165605320614,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            188.07653985598535,
+            -1984.8165605320614,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            190.67461606733866,
+            -1983.3165605320614,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            193.27269227869198,
+            -1981.8165605320614,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            195.8707684900453,
+            -1980.3165605320614,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            198.4688447013986,
+            -1978.8165605320614,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            201.06692091275193,
+            -1977.3165605320614,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            203.66499712410524,
+            -1975.8165605320614,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            206.26307333545856,
+            -1974.3165605320614,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            208.86114954681187,
+            -1972.8165605320614,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            211.4592257581652,
+            -1971.3165605320614,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            214.0573019695185,
+            -1969.8165605320614,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            216.65537818087182,
+            -1968.3165605320614,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            219.25345439222514,
+            -1966.8165605320614,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            221.85153060357845,
+            -1965.3165605320614,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            224.44960681493177,
+            -1963.8165605320614,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            227.04768302628509,
+            -1962.3165605320614,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            229.6457592376384,
+            -1960.8165605320614,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            232.24383544899172,
+            -1959.3165605320614,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            234.84191166034503,
+            -1957.8165605320614,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            237.43998787169835,
+            -1956.3165605320614,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            240.03806408305167,
+            -1954.8165605320614,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            242.63614029440498,
+            -1953.3165605320614,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            245.2342165057583,
+            -1951.8165605320614,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            247.8322927171116,
+            -1950.3165605320614,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            250.43036892846493,
+            -1948.8165605320614,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            253.02844513981825,
+            -1947.3165605320614,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            255.62652135117156,
+            -1945.8165605320614,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            258.2245975625249,
+            -1944.3165605320614,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            260.8226737738782,
+            -1942.8165605320614,
+            -285.03212597454063
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            288.0,
+            -1924.0,
+            -268.846
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_26/astar_data/medium_average/2025-1-9_13-52-38_364686248/pose.jsonl

@@ -0,0 +1,561 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -488.95399057822556,
+            -1709.5987673444822,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -490.45399057822556,
+            -1712.1968435558356,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -491.95399057822556,
+            -1714.794919767189,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -493.45399057822556,
+            -1717.3929959785423,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -494.95399057822556,
+            -1719.9910721898957,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -496.45399057822556,
+            -1722.589148401249,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -497.95399057822556,
+            -1725.1872246126024,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -499.45399057822556,
+            -1727.7853008239558,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -500.95399057822556,
+            -1730.3833770353092,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -502.45399057822556,
+            -1732.9814532466626,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -503.95399057822556,
+            -1735.579529458016,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -505.45399057822556,
+            -1738.1776056693693,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -506.95399057822556,
+            -1740.7756818807227,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -508.45399057822556,
+            -1743.373758092076,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -509.95399057822556,
+            -1745.9718343034294,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -511.45399057822556,
+            -1748.5699105147828,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -512.9539905782256,
+            -1751.1679867261362,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -514.4539905782256,
+            -1753.7660629374896,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -515.9539905782256,
+            -1756.364139148843,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -517.4539905782256,
+            -1758.9622153601963,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -518.9539905782256,
+            -1761.5602915715497,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -520.4539905782256,
+            -1764.158367782903,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -521.9539905782256,
+            -1766.7564439942564,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -523.4539905782256,
+            -1769.3545202056098,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -524.9539905782256,
+            -1771.9525964169632,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -526.4539905782256,
+            -1774.5506726283165,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -527.9539905782256,
+            -1777.14874883967,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -529.4539905782256,
+            -1779.7468250510233,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -530.9539905782256,
+            -1782.3449012623767,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -532.4539905782256,
+            -1784.94297747373,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -533.9539905782256,
+            -1787.5410536850834,
+            -285.03212597454063
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -533.9539905782256,
+            -1787.5410536850834,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -536.5520667895789,
+            -1789.0410536850834,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -539.1501430009323,
+            -1790.5410536850834,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -541.7482192122857,
+            -1792.0410536850834,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -544.346295423639,
+            -1793.5410536850834,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -546.9443716349924,
+            -1795.0410536850834,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -549.5424478463458,
+            -1796.5410536850834,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -552.1405240576992,
+            -1798.0410536850834,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -554.7386002690525,
+            -1799.5410536850834,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -557.3366764804059,
+            -1801.0410536850834,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -559.9347526917593,
+            -1802.5410536850834,
+            -285.03212597454063
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -576.0,
+            -1824.0,
+            -273.783
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_26/astar_data/medium_average/2025-1-9_14-25-32_1989806367/pose.jsonl

@@ -0,0 +1,600 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            154.1288160854838,
+            -1084.209399952345,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            152.6288160854838,
+            -1086.8074761636983,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            151.1288160854838,
+            -1089.4055523750517,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            149.6288160854838,
+            -1092.003628586405,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            148.1288160854838,
+            -1094.6017047977584,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            146.6288160854838,
+            -1097.1997810091118,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            145.1288160854838,
+            -1099.7978572204652,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            143.6288160854838,
+            -1102.3959334318185,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            142.1288160854838,
+            -1104.994009643172,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            140.6288160854838,
+            -1107.5920858545253,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            139.1288160854838,
+            -1110.1901620658787,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            137.6288160854838,
+            -1112.788238277232,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            136.1288160854838,
+            -1115.3863144885854,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            134.6288160854838,
+            -1117.9843906999388,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            133.1288160854838,
+            -1120.5824669112922,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            131.6288160854838,
+            -1123.1805431226455,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            130.1288160854838,
+            -1125.778619333999,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            128.6288160854838,
+            -1128.3766955453523,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            127.1288160854838,
+            -1130.9747717567056,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            125.6288160854838,
+            -1133.572847968059,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            124.1288160854838,
+            -1136.1709241794124,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            122.6288160854838,
+            -1138.7690003907658,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            121.1288160854838,
+            -1141.3670766021191,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            119.6288160854838,
+            -1143.9651528134725,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            118.1288160854838,
+            -1146.563229024826,
+            -285.03212597454063
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            118.1288160854838,
+            -1146.563229024826,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            115.53073987413049,
+            -1148.063229024826,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            112.93266366277717,
+            -1149.563229024826,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            110.33458745142386,
+            -1151.063229024826,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            107.73651124007054,
+            -1152.563229024826,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            105.13843502871723,
+            -1154.063229024826,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            102.54035881736391,
+            -1155.563229024826,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            99.9422826060106,
+            -1157.063229024826,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            97.34420639465728,
+            -1158.563229024826,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            94.74613018330396,
+            -1160.063229024826,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            92.14805397195065,
+            -1161.563229024826,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            89.54997776059733,
+            -1163.063229024826,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            86.95190154924401,
+            -1164.563229024826,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            84.3538253378907,
+            -1166.063229024826,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            81.75574912653738,
+            -1167.563229024826,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            79.15767291518407,
+            -1169.063229024826,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            76.55959670383075,
+            -1170.563229024826,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            73.96152049247743,
+            -1172.063229024826,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            71.36344428112412,
+            -1173.563229024826,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            68.7653680697708,
+            -1175.063229024826,
+            -285.03212597454063
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            60.0,
+            -1188.0,
+            -292.222
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_26/astar_data/medium_average/2025-1-9_14-9-19_1473144500/pose.jsonl

@@ -0,0 +1,366 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            439.30250309592145,
+            -1251.7162662972594,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            440.80250309592145,
+            -1254.3143425086128,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            442.30250309592145,
+            -1256.9124187199661,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            443.80250309592145,
+            -1259.5104949313195,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            445.30250309592145,
+            -1262.1085711426729,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            446.80250309592145,
+            -1264.7066473540262,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            448.30250309592145,
+            -1267.3047235653796,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            449.80250309592145,
+            -1269.902799776733,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            451.30250309592145,
+            -1272.5008759880864,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            452.80250309592145,
+            -1275.0989521994397,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            454.30250309592145,
+            -1277.697028410793,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            455.80250309592145,
+            -1280.2951046221465,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            457.30250309592145,
+            -1282.8931808334999,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            458.80250309592145,
+            -1285.4912570448532,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            460.30250309592145,
+            -1288.0893332562066,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            461.80250309592145,
+            -1290.68740946756,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            463.30250309592145,
+            -1293.2854856789133,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            464.80250309592145,
+            -1295.8835618902667,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            466.30250309592145,
+            -1298.48163810162,
+            -285.03212597454063
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            466.30250309592145,
+            -1298.48163810162,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            468.90057930727477,
+            -1299.98163810162,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            471.4986555186281,
+            -1301.48163810162,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            474.0967317299814,
+            -1302.98163810162,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            476.6948079413347,
+            -1304.48163810162,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            479.29288415268803,
+            -1305.98163810162,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            481.89096036404135,
+            -1307.48163810162,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            484.48903657539466,
+            -1308.98163810162,
+            -285.03212597454063
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            512.0,
+            -1340.0,
+            -261.698
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_26/astar_data/medium_average/2025-1-9_15-12-59_435889744/pose.jsonl

@@ -0,0 +1,535 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -479.4572518311009,
+            -1766.071489992047,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -482.0553280424542,
+            -1764.571489992047,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -484.65340425380754,
+            -1763.071489992047,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -487.25148046516085,
+            -1761.571489992047,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -489.84955667651417,
+            -1760.071489992047,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -492.4476328878675,
+            -1758.571489992047,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -495.0457090992208,
+            -1757.071489992047,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -497.6437853105741,
+            -1755.571489992047,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -500.24186152192743,
+            -1754.071489992047,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -502.83993773328075,
+            -1752.571489992047,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -505.43801394463406,
+            -1751.071489992047,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -508.0360901559874,
+            -1749.571489992047,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -510.6341663673407,
+            -1748.071489992047,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -513.232242578694,
+            -1746.571489992047,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -515.8303187900474,
+            -1745.071489992047,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -518.4283950014008,
+            -1743.571489992047,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -521.0264712127541,
+            -1742.071489992047,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -523.6245474241075,
+            -1740.571489992047,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -526.2226236354609,
+            -1739.071489992047,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -528.8206998468143,
+            -1737.571489992047,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -531.4187760581676,
+            -1736.071489992047,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -534.016852269521,
+            -1734.571489992047,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -536.6149284808744,
+            -1733.071489992047,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -539.2130046922277,
+            -1731.571489992047,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -541.8110809035811,
+            -1730.071489992047,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -544.4091571149345,
+            -1728.571489992047,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -547.0072333262879,
+            -1727.071489992047,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -549.6053095376412,
+            -1725.571489992047,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -552.2033857489946,
+            -1724.071489992047,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -554.801461960348,
+            -1722.571489992047,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -557.3995381717014,
+            -1721.071489992047,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -559.9976143830547,
+            -1719.571489992047,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -562.5956905944081,
+            -1718.071489992047,
+            -285.03212597454063
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -562.5956905944081,
+            -1718.071489992047,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -564.0956905944081,
+            -1715.4734137806936,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -565.5956905944081,
+            -1712.8753375693402,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -567.0956905944081,
+            -1710.2772613579868,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -568.5956905944081,
+            -1707.6791851466335,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -570.0956905944081,
+            -1705.08110893528,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -571.5956905944081,
+            -1702.4830327239267,
+            -285.03212597454063
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -592.0,
+            -1688.0,
+            -297.039
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_26/astar_data/medium_average/2025-1-9_15-20-15_409544918/pose.jsonl

@@ -0,0 +1,431 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            165.5117119616247,
+            -1400.6717961783493,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            162.9136357502714,
+            -1402.1717961783493,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            160.31555953891808,
+            -1403.6717961783493,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            157.71748332756476,
+            -1405.1717961783493,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            155.11940711621145,
+            -1406.6717961783493,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            152.52133090485813,
+            -1408.1717961783493,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            149.92325469350482,
+            -1409.6717961783493,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            147.3251784821515,
+            -1411.1717961783493,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            144.72710227079818,
+            -1412.6717961783493,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            142.12902605944487,
+            -1414.1717961783493,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            139.53094984809155,
+            -1415.6717961783493,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            136.93287363673824,
+            -1417.1717961783493,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            134.33479742538492,
+            -1418.6717961783493,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            131.7367212140316,
+            -1420.1717961783493,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            129.1386450026783,
+            -1421.6717961783493,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            126.54056879132497,
+            -1423.1717961783493,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            123.94249257997166,
+            -1424.6717961783493,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            121.34441636861834,
+            -1426.1717961783493,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            118.74634015726502,
+            -1427.6717961783493,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            116.14826394591171,
+            -1429.1717961783493,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            113.55018773455839,
+            -1430.6717961783493,
+            -285.03212597454063
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            113.55018773455839,
+            -1430.6717961783493,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            110.55018773455839,
+            -1430.6717961783493,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            107.55018773455839,
+            -1430.6717961783493,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            104.55018773455839,
+            -1430.6717961783493,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            101.55018773455839,
+            -1430.6717961783493,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            98.55018773455839,
+            -1430.6717961783493,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            95.55018773455839,
+            -1430.6717961783493,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            92.55018773455839,
+            -1430.6717961783493,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            89.55018773455839,
+            -1430.6717961783493,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            86.55018773455839,
+            -1430.6717961783493,
+            -285.03212597454063
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            83.55018773455839,
+            -1430.6717961783493,
+            -285.03212597454063
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            60.0,
+            -1440.0,
+            -258.248
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}