Add files using upload-large-folder tool

Image/env_airsim_18/astar_data/medium_average/2025-1-8_17-58-15_1101513929/pose.jsonl

@@ -0,0 +1,613 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            187.57277388289995,
+            115.23126832092623,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            190.57277388289995,
+            115.23126832092623,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            193.57277388289995,
+            115.23126832092623,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            196.57277388289995,
+            115.23126832092623,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            199.57277388289995,
+            115.23126832092623,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            202.57277388289995,
+            115.23126832092623,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            205.57277388289995,
+            115.23126832092623,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            208.57277388289995,
+            115.23126832092623,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            211.57277388289995,
+            115.23126832092623,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            214.57277388289995,
+            115.23126832092623,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            217.57277388289995,
+            115.23126832092623,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            220.57277388289995,
+            115.23126832092623,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            223.57277388289995,
+            115.23126832092623,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            226.57277388289995,
+            115.23126832092623,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            229.57277388289995,
+            115.23126832092623,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            229.57277388289995,
+            115.23126832092623,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            232.17085009425327,
+            113.73126832092623,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            232.17085009425327,
+            113.73126832092623,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            233.67085009425327,
+            111.13319210957292,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            235.17085009425327,
+            108.5351158982196,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            235.17085009425327,
+            108.5351158982196,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            237.76892630560658,
+            107.0351158982196,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            240.3670025169599,
+            105.5351158982196,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            242.96507872831322,
+            104.0351158982196,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            245.56315493966653,
+            102.5351158982196,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            248.16123115101985,
+            101.0351158982196,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            250.75930736237316,
+            99.5351158982196,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            253.35738357372648,
+            98.0351158982196,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            255.9554597850798,
+            96.5351158982196,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            258.5535359964331,
+            95.0351158982196,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983036
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            261.1516122077864,
+            93.5351158982196,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            263.7496884191397,
+            92.0351158982196,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            266.34776463049303,
+            90.5351158982196,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            268.94584084184635,
+            89.0351158982196,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            271.54391705319966,
+            87.5351158982196,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            274.141993264553,
+            86.0351158982196,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            276.7400694759063,
+            84.5351158982196,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            279.3381456872596,
+            83.0351158982196,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            281.9362218986129,
+            81.5351158982196,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            284.53429810996624,
+            80.0351158982196,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            287.13237432131956,
+            78.5351158982196,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            289.7304505326729,
+            77.0351158982196,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            292.3285267440262,
+            75.5351158982196,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            294.9266029553795,
+            74.0351158982196,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            297.5246791667328,
+            72.5351158982196,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            300.12275537808614,
+            71.0351158982196,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            320.0,
+            64.0,
+            -0.161909
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_18/astar_data/medium_average/2025-1-8_18-28-36_2114738097/pose.jsonl

@@ -0,0 +1,561 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1675.0191329544239,
+            29.061210521599932,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1672.4210567430705,
+            27.561210521599932,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1669.8229805317171,
+            26.061210521599932,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1667.2249043203637,
+            24.561210521599932,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1664.6268281090104,
+            23.061210521599932,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1662.028751897657,
+            21.561210521599932,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1659.4306756863036,
+            20.061210521599932,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1656.8325994749503,
+            18.561210521599932,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1654.2345232635969,
+            17.061210521599932,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1651.6364470522435,
+            15.561210521599932,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1649.0383708408901,
+            14.061210521599932,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1646.4402946295368,
+            12.561210521599932,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1643.8422184181834,
+            11.061210521599932,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1641.24414220683,
+            9.561210521599932,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1638.6460659954766,
+            8.061210521599932,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1636.0479897841233,
+            6.561210521599932,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1633.44991357277,
+            5.061210521599932,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1630.8518373614165,
+            3.561210521599932,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1628.2537611500632,
+            2.061210521599932,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1625.6556849387098,
+            0.5612105215999323,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1623.0576087273564,
+            -0.9387894784000674,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1620.459532516003,
+            -2.438789478400067,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991504
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1617.8614563046497,
+            -3.938789478400067,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1615.2633800932963,
+            -5.438789478400067,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1612.665303881943,
+            -6.938789478400067,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1612.665303881943,
+            -6.938789478400067,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1611.165303881943,
+            -9.536865689753384,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1609.665303881943,
+            -12.1349419011067,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1608.165303881943,
+            -14.733018112460016,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1606.665303881943,
+            -17.331094323813332,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1605.165303881943,
+            -19.929170535166648,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1603.665303881943,
+            -22.527246746519964,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1602.165303881943,
+            -25.12532295787328,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1600.665303881943,
+            -27.723399169226596,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1599.165303881943,
+            -30.321475380579912,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1597.665303881943,
+            -32.91955159193323,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1596.165303881943,
+            -35.517627803286544,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1594.665303881943,
+            -38.11570401463986,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1593.165303881943,
+            -40.713780225993176,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1591.665303881943,
+            -43.31185643734649,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1590.165303881943,
+            -45.90993264869981,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1588.665303881943,
+            -48.508008860053124,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1568.0,
+            -68.0,
+            1.05541
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_18/astar_data/medium_average/2025-1-8_18-35-2_378409503/pose.jsonl

@@ -0,0 +1,535 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1886.8141402101164,
+            33.843428943602426,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1889.8141402101164,
+            33.843428943602426,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1892.8141402101164,
+            33.843428943602426,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1895.8141402101164,
+            33.843428943602426,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1898.8141402101164,
+            33.843428943602426,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1901.8141402101164,
+            33.843428943602426,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1904.8141402101164,
+            33.843428943602426,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1907.8141402101164,
+            33.843428943602426,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1910.8141402101164,
+            33.843428943602426,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1913.8141402101164,
+            33.843428943602426,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1916.8141402101164,
+            33.843428943602426,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1919.8141402101164,
+            33.843428943602426,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1922.8141402101164,
+            33.843428943602426,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1925.8141402101164,
+            33.843428943602426,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1928.8141402101164,
+            33.843428943602426,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1931.8141402101164,
+            33.843428943602426,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1934.8141402101164,
+            33.843428943602426,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1937.8141402101164,
+            33.843428943602426,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1940.8141402101164,
+            33.843428943602426,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1943.8141402101164,
+            33.843428943602426,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1946.8141402101164,
+            33.843428943602426,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1949.8141402101164,
+            33.843428943602426,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1952.8141402101164,
+            33.843428943602426,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1955.8141402101164,
+            33.843428943602426,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1958.8141402101164,
+            33.843428943602426,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1961.8141402101164,
+            33.843428943602426,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1964.8141402101164,
+            33.843428943602426,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1967.8141402101164,
+            33.843428943602426,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1970.8141402101164,
+            33.843428943602426,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1973.8141402101164,
+            33.843428943602426,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1976.8141402101164,
+            33.843428943602426,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1979.8141402101164,
+            33.843428943602426,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1982.8141402101164,
+            33.843428943602426,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1985.8141402101164,
+            33.843428943602426,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1988.8141402101164,
+            33.843428943602426,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1991.8141402101164,
+            33.843428943602426,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1991.8141402101164,
+            33.843428943602426,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1994.4122164214698,
+            35.343428943602426,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1997.0102926328232,
+            36.843428943602426,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1999.6083688441765,
+            38.343428943602426,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            2012.0,
+            40.0,
+            2.59066
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_18/astar_data/medium_average/2025-1-8_18-45-1_350322227/pose.jsonl

@@ -0,0 +1,483 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            89.00303617688704,
+            393.21141319562713,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            86.40495996553372,
+            391.71141319562713,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            83.8068837541804,
+            390.21141319562713,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            81.20880754282709,
+            388.71141319562713,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            78.61073133147377,
+            387.21141319562713,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            76.01265512012046,
+            385.71141319562713,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            73.41457890876714,
+            384.21141319562713,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            70.81650269741382,
+            382.71141319562713,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            68.21842648606051,
+            381.21141319562713,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            65.62035027470719,
+            379.71141319562713,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            63.022274063353876,
+            378.21141319562713,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            60.42419785200056,
+            376.71141319562713,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            57.826121640647244,
+            375.21141319562713,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            55.22804542929393,
+            373.71141319562713,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            52.62996921794061,
+            372.21141319562713,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            50.031893006587296,
+            370.71141319562713,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            47.43381679523398,
+            369.21141319562713,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            44.835740583880664,
+            367.71141319562713,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            42.23766437252735,
+            366.21141319562713,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            39.63958816117403,
+            364.71141319562713,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            37.041511949820716,
+            363.21141319562713,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            34.4434357384674,
+            361.71141319562713,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            31.845359527114084,
+            360.21141319562713,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            29.247283315760768,
+            358.71141319562713,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            29.247283315760768,
+            358.71141319562713,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            26.247283315760768,
+            358.71141319562713,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            23.247283315760768,
+            358.71141319562713,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            20.247283315760768,
+            358.71141319562713,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            17.247283315760768,
+            358.71141319562713,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            14.247283315760768,
+            358.71141319562713,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            11.247283315760768,
+            358.71141319562713,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            8.247283315760768,
+            358.71141319562713,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            5.247283315760768,
+            358.71141319562713,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            2.247283315760768,
+            358.71141319562713,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -0.7527166842392319,
+            358.71141319562713,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -3.752716684239232,
+            358.71141319562713,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -36.0,
+            344.0,
+            63.6789
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_18/astar_data/medium_average/2025-1-8_19-30-40_382697713/pose.jsonl

@@ -0,0 +1,613 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            700.5647408703501,
+            341.78357264737974,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            702.0647408703501,
+            344.38164885873306,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            702.0647408703501,
+            344.38164885873306,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            704.6628170817035,
+            345.88164885873306,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            707.2608932930568,
+            347.38164885873306,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            707.2608932930568,
+            347.38164885873306,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            708.7608932930568,
+            349.9797250700864,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            710.2608932930568,
+            352.5778012814397,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            711.7608932930568,
+            355.175877492793,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            713.2608932930568,
+            357.7739537041463,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            714.7608932930568,
+            360.37202991549964,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            716.2608932930568,
+            362.97010612685295,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            717.7608932930568,
+            365.56818233820627,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            719.2608932930568,
+            368.1662585495596,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            720.7608932930568,
+            370.7643347609129,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            720.7608932930568,
+            370.7643347609129,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            720.7608932930568,
+            373.7643347609129,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            720.7608932930568,
+            376.7643347609129,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            720.7608932930568,
+            379.7643347609129,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            720.7608932930568,
+            382.7643347609129,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            720.7608932930568,
+            385.7643347609129,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            720.7608932930568,
+            388.7643347609129,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            720.7608932930568,
+            391.7643347609129,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            720.7608932930568,
+            394.7643347609129,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            720.7608932930568,
+            397.7643347609129,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            720.7608932930568,
+            400.7643347609129,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            720.7608932930568,
+            403.7643347609129,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            720.7608932930568,
+            406.7643347609129,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            720.7608932930568,
+            409.7643347609129,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            720.7608932930568,
+            412.7643347609129,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            720.7608932930568,
+            415.7643347609129,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            720.7608932930568,
+            418.7643347609129,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            720.7608932930568,
+            421.7643347609129,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            720.7608932930568,
+            424.7643347609129,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            720.7608932930568,
+            427.7643347609129,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            720.7608932930568,
+            430.7643347609129,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            720.7608932930568,
+            433.7643347609129,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            720.7608932930568,
+            436.7643347609129,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            720.7608932930568,
+            439.7643347609129,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            720.7608932930568,
+            442.7643347609129,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            720.7608932930568,
+            442.7643347609129,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            719.2608932930568,
+            445.3624109722662,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            717.7608932930568,
+            447.96048718361953,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            716.2608932930568,
+            450.55856339497285,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            714.7608932930568,
+            453.15663960632617,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            713.2608932930568,
+            455.7547158176795,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            716.0,
+            484.0,
+            -10.4721
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_18/astar_data/medium_average/2025-1-8_19-5-40_1037127828/pose.jsonl

@@ -0,0 +1,392 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1882.4151757340073,
+            315.7644121513143,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1885.4151757340073,
+            315.7644121513143,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1888.4151757340073,
+            315.7644121513143,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1891.4151757340073,
+            315.7644121513143,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1894.4151757340073,
+            315.7644121513143,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1897.4151757340073,
+            315.7644121513143,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1900.4151757340073,
+            315.7644121513143,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1903.4151757340073,
+            315.7644121513143,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1906.4151757340073,
+            315.7644121513143,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1909.4151757340073,
+            315.7644121513143,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1912.4151757340073,
+            315.7644121513143,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1915.4151757340073,
+            315.7644121513143,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1918.4151757340073,
+            315.7644121513143,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1921.4151757340073,
+            315.7644121513143,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1924.4151757340073,
+            315.7644121513143,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1927.4151757340073,
+            315.7644121513143,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1930.4151757340073,
+            315.7644121513143,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1933.4151757340073,
+            315.7644121513143,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1936.4151757340073,
+            315.7644121513143,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1939.4151757340073,
+            315.7644121513143,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1939.4151757340073,
+            315.7644121513143,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1942.0132519453607,
+            317.2644121513143,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1944.611328156714,
+            318.7644121513143,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1947.2094043680675,
+            320.2644121513143,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1949.8074805794208,
+            321.7644121513143,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1952.4055567907742,
+            323.2644121513143,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1952.4055567907742,
+            323.2644121513143,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -9.43689570931383e-15
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1955.4055567907742,
+            323.2644121513143,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1958.4055567907742,
+            323.2644121513143,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1992.0,
+            328.0,
+            3.01289
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_18/astar_data/medium_average/2025-1-8_20-7-31_430253414/pose.jsonl

@@ -0,0 +1,470 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1368.7327273202218,
+            18.037718590517045,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1367.2327273202218,
+            15.439642379163729,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1365.7327273202218,
+            12.841566167810413,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1364.2327273202218,
+            10.243489956457097,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1362.7327273202218,
+            7.645413745103781,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1361.2327273202218,
+            5.047337533750465,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1359.7327273202218,
+            2.449261322397149,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1358.2327273202218,
+            -0.14881488895616712,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1356.7327273202218,
+            -2.746891100309483,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1355.2327273202218,
+            -5.344967311662799,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1353.7327273202218,
+            -7.943043523016115,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1352.2327273202218,
+            -10.541119734369431,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1350.7327273202218,
+            -13.139195945722747,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1349.2327273202218,
+            -15.737272157076063,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1347.7327273202218,
+            -18.33534836842938,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1346.2327273202218,
+            -20.933424579782695,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1344.7327273202218,
+            -23.53150079113601,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1343.2327273202218,
+            -26.129577002489327,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1341.7327273202218,
+            -28.727653213842643,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1341.7327273202218,
+            -28.727653213842643,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1339.1346511088684,
+            -30.227653213842643,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1336.536574897515,
+            -31.727653213842643,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1333.9384986861617,
+            -33.22765321384264,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1331.3404224748083,
+            -34.72765321384264,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1328.742346263455,
+            -36.22765321384264,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1326.1442700521015,
+            -37.72765321384264,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1323.5461938407482,
+            -39.22765321384264,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1320.9481176293948,
+            -40.72765321384264,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1318.3500414180414,
+            -42.22765321384264,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1315.751965206688,
+            -43.72765321384264,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1313.1538889953347,
+            -45.22765321384264,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1310.5558127839813,
+            -46.72765321384264,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1307.957736572628,
+            -48.22765321384264,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1305.3596603612746,
+            -49.72765321384264,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1302.7615841499212,
+            -51.22765321384264,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1288.0,
+            -68.0,
+            -14.2865
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_18/astar_data/medium_average/2025-1-8_21-52-11_1763794427/pose.jsonl

@@ -0,0 +1,535 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1519.0071634857043,
+            379.59634510428134,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1517.5071634857043,
+            382.19442131563466,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1516.0071634857043,
+            384.792497526988,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1514.5071634857043,
+            387.3905737383413,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1513.0071634857043,
+            389.9886499496946,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1511.5071634857043,
+            392.5867261610479,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1510.0071634857043,
+            395.18480237240124,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1508.5071634857043,
+            397.78287858375455,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1507.0071634857043,
+            400.38095479510787,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1505.5071634857043,
+            402.9790310064612,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1504.0071634857043,
+            405.5771072178145,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1502.5071634857043,
+            408.1751834291678,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1501.0071634857043,
+            410.77325964052113,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1499.5071634857043,
+            413.37133585187445,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1498.0071634857043,
+            415.96941206322776,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1496.5071634857043,
+            418.5674882745811,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1496.5071634857043,
+            418.5674882745811,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1493.909087274351,
+            420.0674882745811,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1491.3110110629975,
+            421.5674882745811,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1488.7129348516441,
+            423.0674882745811,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1486.1148586402908,
+            424.5674882745811,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1483.5167824289374,
+            426.0674882745811,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1480.918706217584,
+            427.5674882745811,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1478.3206300062307,
+            429.0674882745811,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1475.7225537948773,
+            430.5674882745811,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1473.124477583524,
+            432.0674882745811,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1470.5264013721705,
+            433.5674882745811,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1467.9283251608172,
+            435.0674882745811,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1465.3302489494638,
+            436.5674882745811,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1462.7321727381104,
+            438.0674882745811,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1460.134096526757,
+            439.5674882745811,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1457.5360203154037,
+            441.0674882745811,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1454.9379441040503,
+            442.5674882745811,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1452.339867892697,
+            444.0674882745811,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1452.339867892697,
+            444.0674882745811,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1450.839867892697,
+            446.6655644859344,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1449.339867892697,
+            449.2636406972877,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1447.839867892697,
+            451.86171690864103,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1446.339867892697,
+            454.45979311999434,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1444.839867892697,
+            457.05786933134766,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1420.0,
+            484.0,
+            -10.4725
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_18/astar_data/medium_average/2025-1-8_22-29-2_1785550551/pose.jsonl

@@ -0,0 +1,353 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1594.2222406153444,
+            262.7637276793915,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1594.2222406153444,
+            259.7637276793915,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1594.2222406153444,
+            256.7637276793915,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1594.2222406153444,
+            253.76372767939148,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1594.2222406153444,
+            250.76372767939148,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1594.2222406153444,
+            247.76372767939148,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1594.2222406153444,
+            244.76372767939148,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1594.2222406153444,
+            241.76372767939148,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1594.2222406153444,
+            238.76372767939148,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1594.2222406153444,
+            235.76372767939148,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1594.2222406153444,
+            232.76372767939148,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1594.2222406153444,
+            229.76372767939148,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1594.2222406153444,
+            226.76372767939148,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1594.2222406153444,
+            223.76372767939148,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1594.2222406153444,
+            223.76372767939148,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1595.7222406153444,
+            221.16565146803816,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1597.2222406153444,
+            218.56757525668485,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1598.7222406153444,
+            215.96949904533153,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1600.2222406153444,
+            213.37142283397822,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1601.7222406153444,
+            210.7733466226249,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1603.2222406153444,
+            208.17527041127158,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1604.7222406153444,
+            205.57719419991827,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1604.7222406153444,
+            205.57719419991827,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1604.7222406153444,
+            202.57719419991827,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1604.7222406153444,
+            199.57719419991827,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1604.7222406153444,
+            196.57719419991827,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1612.0,
+            164.0,
+            123.13
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_18/astar_data/medium_average/2025-1-8_22-49-0_1730418657/pose.jsonl

@@ -0,0 +1,626 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1868.7838419074797,
+            83.6624067990573,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1871.7838419074797,
+            83.6624067990573,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1874.7838419074797,
+            83.6624067990573,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1877.7838419074797,
+            83.6624067990573,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1880.7838419074797,
+            83.6624067990573,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1883.7838419074797,
+            83.6624067990573,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1886.7838419074797,
+            83.6624067990573,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1889.7838419074797,
+            83.6624067990573,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1892.7838419074797,
+            83.6624067990573,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1895.7838419074797,
+            83.6624067990573,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1898.7838419074797,
+            83.6624067990573,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1901.7838419074797,
+            83.6624067990573,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1904.7838419074797,
+            83.6624067990573,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1907.7838419074797,
+            83.6624067990573,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1910.7838419074797,
+            83.6624067990573,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1913.7838419074797,
+            83.6624067990573,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1916.7838419074797,
+            83.6624067990573,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1919.7838419074797,
+            83.6624067990573,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1922.7838419074797,
+            83.6624067990573,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1925.7838419074797,
+            83.6624067990573,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1928.7838419074797,
+            83.6624067990573,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1931.7838419074797,
+            83.6624067990573,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1934.7838419074797,
+            83.6624067990573,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1937.7838419074797,
+            83.6624067990573,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1940.7838419074797,
+            83.6624067990573,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1943.7838419074797,
+            83.6624067990573,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1946.7838419074797,
+            83.6624067990573,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1949.7838419074797,
+            83.6624067990573,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1952.7838419074797,
+            83.6624067990573,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1955.7838419074797,
+            83.6624067990573,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1958.7838419074797,
+            83.6624067990573,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1961.7838419074797,
+            83.6624067990573,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1964.7838419074797,
+            83.6624067990573,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1967.7838419074797,
+            83.6624067990573,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1970.7838419074797,
+            83.6624067990573,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1973.7838419074797,
+            83.6624067990573,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1976.7838419074797,
+            83.6624067990573,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1979.7838419074797,
+            83.6624067990573,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1982.7838419074797,
+            83.6624067990573,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1982.7838419074797,
+            83.6624067990573,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1982.7838419074797,
+            83.6624067990573,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1984.2838419074797,
+            86.26048301041061,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1985.7838419074797,
+            88.85855922176393,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1987.2838419074797,
+            91.45663543311724,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1987.2838419074797,
+            91.45663543311724,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1989.881918118833,
+            92.95663543311724,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1992.4799943301864,
+            94.45663543311724,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            2012.0,
+            96.0,
+            2.4858
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_18/astar_data/medium_average/2025-1-8_23-14-59_1833488263/pose.jsonl

@@ -0,0 +1,587 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            829.5798223933884,
+            377.5346949415178,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            831.0798223933884,
+            374.93661873016447,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            832.5798223933884,
+            372.33854251881115,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            834.0798223933884,
+            369.74046630745784,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            835.5798223933884,
+            367.1423900961045,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            837.0798223933884,
+            364.5443138847512,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            838.5798223933884,
+            361.9462376733979,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            840.0798223933884,
+            359.3481614620446,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            841.5798223933884,
+            356.75008525069126,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            843.0798223933884,
+            354.15200903933794,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            843.0798223933884,
+            354.15200903933794,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            845.6778986047418,
+            352.65200903933794,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            848.2759748160952,
+            351.15200903933794,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            850.8740510274486,
+            349.65200903933794,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            853.4721272388019,
+            348.15200903933794,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            856.0702034501553,
+            346.65200903933794,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            858.6682796615087,
+            345.15200903933794,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            861.266355872862,
+            343.65200903933794,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            863.8644320842154,
+            342.15200903933794,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            866.4625082955688,
+            340.65200903933794,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            869.0605845069222,
+            339.15200903933794,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            871.6586607182755,
+            337.65200903933794,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            874.2567369296289,
+            336.15200903933794,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            876.8548131409823,
+            334.65200903933794,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            879.4528893523357,
+            333.15200903933794,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            882.050965563689,
+            331.65200903933794,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            884.6490417750424,
+            330.15200903933794,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            887.2471179863958,
+            328.65200903933794,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            889.8451941977492,
+            327.15200903933794,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            892.4432704091025,
+            325.65200903933794,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            895.0413466204559,
+            324.15200903933794,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            897.6394228318093,
+            322.65200903933794,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            900.2374990431626,
+            321.15200903933794,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            902.835575254516,
+            319.65200903933794,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            905.4336514658694,
+            318.15200903933794,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            908.0317276772228,
+            316.65200903933794,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            910.6298038885761,
+            315.15200903933794,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            913.2278800999295,
+            313.65200903933794,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            915.8259563112829,
+            312.15200903933794,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            918.4240325226363,
+            310.65200903933794,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            921.0221087339896,
+            309.15200903933794,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            923.620184945343,
+            307.65200903933794,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            926.2182611566964,
+            306.15200903933794,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            928.8163373680497,
+            304.65200903933794,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            944.0,
+            292.0,
+            1.52855
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_18/astar_data/medium_average/2025-1-8_23-2-4_445080308/pose.jsonl

@@ -0,0 +1,379 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1043.273161943434,
+            232.0897985455265,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1040.6750857320806,
+            233.5897985455265,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1038.0770095207272,
+            235.0897985455265,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1035.4789333093738,
+            236.5897985455265,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1032.8808570980204,
+            238.0897985455265,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1030.282780886667,
+            239.5897985455265,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1027.6847046753137,
+            241.0897985455265,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1025.0866284639603,
+            242.5897985455265,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1022.488552252607,
+            244.0897985455265,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1019.8904760412536,
+            245.5897985455265,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1017.2923998299002,
+            247.0897985455265,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1014.6943236185468,
+            248.5897985455265,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1012.0962474071935,
+            250.0897985455265,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1009.4981711958401,
+            251.5897985455265,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1006.9000949844867,
+            253.0897985455265,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1004.3020187731333,
+            254.5897985455265,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1001.70394256178,
+            256.0897985455265,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            999.1058663504266,
+            257.5897985455265,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            996.5077901390732,
+            259.0897985455265,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            993.9097139277198,
+            260.5897985455265,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            991.3116377163665,
+            262.0897985455265,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            988.7135615050131,
+            263.5897985455265,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            986.1154852936597,
+            265.0897985455265,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            983.5174090823064,
+            266.5897985455265,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            980.919332870953,
+            268.0897985455265,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            978.3212566595996,
+            269.5897985455265,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            975.7231804482462,
+            271.0897985455265,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            973.1251042368929,
+            272.5897985455265,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            944.0,
+            292.0,
+            1.52855
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_18/astar_data/medium_average/2025-1-8_23-57-31_717293418/pose.jsonl

@@ -0,0 +1,483 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1718.4697257379685,
+            519.0620401514824,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1719.9697257379685,
+            521.6601163628357,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1721.4697257379685,
+            524.258192574189,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1722.9697257379685,
+            526.8562687855424,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1724.4697257379685,
+            529.4543449968958,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1725.9697257379685,
+            532.0524212082491,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1727.4697257379685,
+            534.6504974196025,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1728.9697257379685,
+            537.2485736309559,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1730.4697257379685,
+            539.8466498423093,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1731.9697257379685,
+            542.4447260536626,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1733.4697257379685,
+            545.042802265016,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1734.9697257379685,
+            547.6408784763694,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1736.4697257379685,
+            550.2389546877228,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1737.9697257379685,
+            552.8370308990761,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1739.4697257379685,
+            555.4351071104295,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1740.9697257379685,
+            558.0331833217829,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1742.4697257379685,
+            560.6312595331362,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1742.4697257379685,
+            560.6312595331362,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1742.4697257379685,
+            563.6312595331362,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1742.4697257379685,
+            566.6312595331362,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1742.4697257379685,
+            569.6312595331362,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1742.4697257379685,
+            572.6312595331362,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1742.4697257379685,
+            575.6312595331362,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1742.4697257379685,
+            578.6312595331362,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1742.4697257379685,
+            581.6312595331362,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1742.4697257379685,
+            584.6312595331362,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1742.4697257379685,
+            587.6312595331362,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1742.4697257379685,
+            590.6312595331362,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1742.4697257379685,
+            593.6312595331362,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1742.4697257379685,
+            596.6312595331362,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1742.4697257379685,
+            599.6312595331362,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1742.4697257379685,
+            602.6312595331362,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1742.4697257379685,
+            605.6312595331362,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1742.4697257379685,
+            608.6312595331362,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1742.4697257379685,
+            608.6312595331362,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1743.9697257379685,
+            611.2293357444896,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1752.0,
+            640.0,
+            -0.375381
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_18/astar_data/medium_average/2025-1-9_0-0-42_278450030/pose.jsonl

@@ -0,0 +1,444 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1673.4690444934517,
+            -243.42448529614987,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1671.9690444934517,
+            -246.02256150750318,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1670.4690444934517,
+            -248.6206377188565,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1668.9690444934517,
+            -251.21871393020982,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1668.9690444934517,
+            -251.21871393020982,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1666.3709682820984,
+            -252.71871393020982,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1663.772892070745,
+            -254.21871393020982,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1661.1748158593916,
+            -255.71871393020982,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1658.5767396480383,
+            -257.2187139302098,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991512
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1655.9786634366849,
+            -258.7187139302098,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1653.3805872253315,
+            -260.2187139302098,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1653.3805872253315,
+            -260.2187139302098,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1650.3805872253315,
+            -260.2187139302098,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1647.3805872253315,
+            -260.2187139302098,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1644.3805872253315,
+            -260.2187139302098,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1641.3805872253315,
+            -260.2187139302098,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1638.3805872253315,
+            -260.2187139302098,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1635.3805872253315,
+            -260.2187139302098,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1632.3805872253315,
+            -260.2187139302098,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1629.3805872253315,
+            -260.2187139302098,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1626.3805872253315,
+            -260.2187139302098,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1623.3805872253315,
+            -260.2187139302098,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1620.3805872253315,
+            -260.2187139302098,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1617.3805872253315,
+            -260.2187139302098,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1614.3805872253315,
+            -260.2187139302098,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1611.3805872253315,
+            -260.2187139302098,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1608.3805872253315,
+            -260.2187139302098,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1605.3805872253315,
+            -260.2187139302098,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1602.3805872253315,
+            -260.2187139302098,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1599.3805872253315,
+            -260.2187139302098,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1596.3805872253315,
+            -260.2187139302098,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1593.3805872253315,
+            -260.2187139302098,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1590.3805872253315,
+            -260.2187139302098,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1564.0,
+            -268.0,
+            -6.14624
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_18/astar_data/medium_average/2025-1-9_0-40-56_550804899/pose.jsonl

@@ -0,0 +1,444 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1846.9492634369092,
+            126.35639939355038,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1849.9492634369092,
+            126.35639939355038,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1852.9492634369092,
+            126.35639939355038,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1855.9492634369092,
+            126.35639939355038,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1858.9492634369092,
+            126.35639939355038,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1861.9492634369092,
+            126.35639939355038,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1864.9492634369092,
+            126.35639939355038,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1867.9492634369092,
+            126.35639939355038,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1867.9492634369092,
+            126.35639939355038,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1870.5473396482626,
+            124.85639939355038,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1870.5473396482626,
+            124.85639939355038,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 9.43689570931383e-15
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1873.5473396482626,
+            124.85639939355038,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1876.5473396482626,
+            124.85639939355038,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1879.5473396482626,
+            124.85639939355038,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1882.5473396482626,
+            124.85639939355038,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1885.5473396482626,
+            124.85639939355038,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1888.5473396482626,
+            124.85639939355038,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1891.5473396482626,
+            124.85639939355038,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1894.5473396482626,
+            124.85639939355038,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1897.5473396482626,
+            124.85639939355038,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1900.5473396482626,
+            124.85639939355038,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1903.5473396482626,
+            124.85639939355038,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1906.5473396482626,
+            124.85639939355038,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1909.5473396482626,
+            124.85639939355038,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1912.5473396482626,
+            124.85639939355038,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1915.5473396482626,
+            124.85639939355038,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1918.5473396482626,
+            124.85639939355038,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1921.5473396482626,
+            124.85639939355038,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1924.5473396482626,
+            124.85639939355038,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1927.5473396482626,
+            124.85639939355038,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1930.5473396482626,
+            124.85639939355038,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1930.5473396482626,
+            124.85639939355038,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1933.145415859616,
+            126.35639939355038,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1952.0,
+            128.0,
+            -8.00905
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_18/astar_data/medium_average/2025-1-9_2-48-14_478307629/pose.jsonl

@@ -0,0 +1,444 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1884.7674817968607,
+            209.57867370829555,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1882.1694055855073,
+            211.07867370829555,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1879.571329374154,
+            212.57867370829555,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1876.9732531628006,
+            214.07867370829555,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1874.3751769514472,
+            215.57867370829555,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1871.7771007400938,
+            217.07867370829555,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1869.1790245287405,
+            218.57867370829555,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1866.580948317387,
+            220.07867370829555,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1863.9828721060337,
+            221.57867370829555,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1861.3847958946803,
+            223.07867370829555,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1858.786719683327,
+            224.57867370829555,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1856.1886434719736,
+            226.07867370829555,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1853.5905672606202,
+            227.57867370829555,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1850.9924910492668,
+            229.07867370829555,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1848.3944148379135,
+            230.57867370829555,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1845.79633862656,
+            232.07867370829555,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1843.1982624152067,
+            233.57867370829555,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1840.6001862038534,
+            235.07867370829555,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1838.0021099925,
+            236.57867370829555,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1835.4040337811466,
+            238.07867370829555,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1832.8059575697932,
+            239.57867370829555,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1830.2078813584399,
+            241.07867370829555,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1827.6098051470865,
+            242.57867370829555,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1825.0117289357331,
+            244.07867370829555,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1822.4136527243797,
+            245.57867370829555,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1819.8155765130264,
+            247.07867370829555,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1817.217500301673,
+            248.57867370829555,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1814.6194240903196,
+            250.07867370829555,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1812.0213478789663,
+            251.57867370829555,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1809.4232716676129,
+            253.07867370829555,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1809.4232716676129,
+            253.07867370829555,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1807.9232716676129,
+            255.67674991964887,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1806.4232716676129,
+            258.2748261310022,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1768.0,
+            284.0,
+            -1.77502
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_18/astar_data/medium_average/2025-1-9_2-55-13_1953534826/pose.jsonl

@@ -0,0 +1,522 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1683.8973897792905,
+            -152.1793498903856,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1680.8973897792905,
+            -152.1793498903856,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1677.8973897792905,
+            -152.1793498903856,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1674.8973897792905,
+            -152.1793498903856,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1671.8973897792905,
+            -152.1793498903856,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1668.8973897792905,
+            -152.1793498903856,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1665.8973897792905,
+            -152.1793498903856,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1662.8973897792905,
+            -152.1793498903856,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1659.8973897792905,
+            -152.1793498903856,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1656.8973897792905,
+            -152.1793498903856,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1653.8973897792905,
+            -152.1793498903856,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1650.8973897792905,
+            -152.1793498903856,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1647.8973897792905,
+            -152.1793498903856,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1644.8973897792905,
+            -152.1793498903856,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1641.8973897792905,
+            -152.1793498903856,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1638.8973897792905,
+            -152.1793498903856,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1635.8973897792905,
+            -152.1793498903856,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1632.8973897792905,
+            -152.1793498903856,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1629.8973897792905,
+            -152.1793498903856,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1626.8973897792905,
+            -152.1793498903856,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1623.8973897792905,
+            -152.1793498903856,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1620.8973897792905,
+            -152.1793498903856,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1617.8973897792905,
+            -152.1793498903856,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1614.8973897792905,
+            -152.1793498903856,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1611.8973897792905,
+            -152.1793498903856,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1608.8973897792905,
+            -152.1793498903856,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1605.8973897792905,
+            -152.1793498903856,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1602.8973897792905,
+            -152.1793498903856,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1599.8973897792905,
+            -152.1793498903856,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1596.8973897792905,
+            -152.1793498903856,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1593.8973897792905,
+            -152.1793498903856,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1593.8973897792905,
+            -152.1793498903856,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1591.2993135679371,
+            -153.6793498903856,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1588.7012373565838,
+            -155.1793498903856,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1586.1031611452304,
+            -156.6793498903856,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1583.505084933877,
+            -158.1793498903856,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1580.9070087225236,
+            -159.6793498903856,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1578.3089325111703,
+            -161.1793498903856,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1575.710856299817,
+            -162.6793498903856,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1548.0,
+            -168.0,
+            5.86359
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_18/astar_data/medium_average/2025-1-9_3-29-9_709606368/pose.jsonl

@@ -0,0 +1,366 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1254.447270793696,
+            803.8354162452047,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1255.947270793696,
+            806.433492456558,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1257.447270793696,
+            809.0315686679114,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1258.947270793696,
+            811.6296448792648,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1260.447270793696,
+            814.2277210906182,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1261.947270793696,
+            816.8257973019715,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1263.447270793696,
+            819.4238735133249,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1264.947270793696,
+            822.0219497246783,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1266.447270793696,
+            824.6200259360317,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1267.947270793696,
+            827.218102147385,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1269.447270793696,
+            829.8161783587384,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1270.947270793696,
+            832.4142545700918,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1272.447270793696,
+            835.0123307814451,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1273.947270793696,
+            837.6104069927985,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1275.447270793696,
+            840.2084832041519,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1276.947270793696,
+            842.8065594155053,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1278.447270793696,
+            845.4046356268586,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1279.947270793696,
+            848.002711838212,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1281.447270793696,
+            850.6007880495654,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1282.947270793696,
+            853.1988642609188,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1284.447270793696,
+            855.7969404722721,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1285.947270793696,
+            858.3950166836255,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1285.947270793696,
+            858.3950166836255,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1285.947270793696,
+            861.3950166836255,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1285.947270793696,
+            864.3950166836255,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1285.947270793696,
+            867.3950166836255,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1285.947270793696,
+            870.3950166836255,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1296.0,
+            896.0,
+            0.734581
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}