Add files using upload-large-folder tool

Image/env_airsim_26/astar_data/low_long/2024-12-31_21-42-1_719885386/pose.jsonl

@@ -0,0 +1,717 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            657.8264988492444,
+            -1195.0103042798169,
+            -306.13462037497396
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            659.3264988492444,
+            -1197.6083804911702,
+            -306.13462037497396
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            660.8264988492444,
+            -1200.2064567025236,
+            -306.13462037497396
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            662.3264988492444,
+            -1202.804532913877,
+            -306.13462037497396
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            663.8264988492444,
+            -1205.4026091252304,
+            -306.13462037497396
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            665.3264988492444,
+            -1208.0006853365837,
+            -306.13462037497396
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            666.8264988492444,
+            -1210.598761547937,
+            -306.13462037497396
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            668.3264988492444,
+            -1213.1968377592905,
+            -306.13462037497396
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            669.8264988492444,
+            -1215.7949139706438,
+            -306.13462037497396
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            671.3264988492444,
+            -1218.3929901819972,
+            -306.13462037497396
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            672.8264988492444,
+            -1220.9910663933506,
+            -306.13462037497396
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            674.3264988492444,
+            -1223.589142604704,
+            -306.13462037497396
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            675.8264988492444,
+            -1226.1872188160573,
+            -306.13462037497396
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            677.3264988492444,
+            -1228.7852950274107,
+            -306.13462037497396
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            678.8264988492444,
+            -1231.383371238764,
+            -306.13462037497396
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            680.3264988492444,
+            -1233.9814474501175,
+            -306.13462037497396
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            681.8264988492444,
+            -1236.5795236614708,
+            -306.13462037497396
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            683.3264988492444,
+            -1239.1775998728242,
+            -306.13462037497396
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            684.8264988492444,
+            -1241.7756760841776,
+            -306.13462037497396
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            686.3264988492444,
+            -1244.373752295531,
+            -306.13462037497396
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            687.8264988492444,
+            -1246.9718285068843,
+            -306.13462037497396
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            689.3264988492444,
+            -1249.5699047182377,
+            -306.13462037497396
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            690.8264988492444,
+            -1252.167980929591,
+            -306.13462037497396
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            692.3264988492444,
+            -1254.7660571409444,
+            -306.13462037497396
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            693.8264988492444,
+            -1257.3641333522978,
+            -306.13462037497396
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            695.3264988492444,
+            -1259.9622095636512,
+            -306.13462037497396
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            696.8264988492444,
+            -1262.5602857750046,
+            -306.13462037497396
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            698.3264988492444,
+            -1265.158361986358,
+            -306.13462037497396
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            699.8264988492444,
+            -1267.7564381977113,
+            -306.13462037497396
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            701.3264988492444,
+            -1270.3545144090647,
+            -306.13462037497396
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            702.8264988492444,
+            -1272.952590620418,
+            -306.13462037497396
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            704.3264988492444,
+            -1275.5506668317714,
+            -306.13462037497396
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            705.8264988492444,
+            -1278.1487430431248,
+            -306.13462037497396
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            707.3264988492444,
+            -1280.7468192544782,
+            -306.13462037497396
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            708.8264988492444,
+            -1283.3448954658315,
+            -306.13462037497396
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            710.3264988492444,
+            -1285.942971677185,
+            -306.13462037497396
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            711.8264988492444,
+            -1288.5410478885383,
+            -306.13462037497396
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            713.3264988492444,
+            -1291.1391240998917,
+            -306.13462037497396
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            714.8264988492444,
+            -1293.737200311245,
+            -306.13462037497396
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            716.3264988492444,
+            -1296.3352765225984,
+            -306.13462037497396
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            717.8264988492444,
+            -1298.9333527339518,
+            -306.13462037497396
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            719.3264988492444,
+            -1301.5314289453052,
+            -306.13462037497396
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            720.8264988492444,
+            -1304.1295051566585,
+            -306.13462037497396
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            722.3264988492444,
+            -1306.727581368012,
+            -306.13462037497396
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            722.3264988492444,
+            -1306.727581368012,
+            -306.13462037497396
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            724.9245750605978,
+            -1308.227581368012,
+            -306.13462037497396
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            727.5226512719512,
+            -1309.727581368012,
+            -306.13462037497396
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            730.1207274833046,
+            -1311.227581368012,
+            -306.13462037497396
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            732.7188036946579,
+            -1312.727581368012,
+            -306.13462037497396
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            735.3168799060113,
+            -1314.227581368012,
+            -306.13462037497396
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            737.9149561173647,
+            -1315.727581368012,
+            -306.13462037497396
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            740.513032328718,
+            -1317.227581368012,
+            -306.13462037497396
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            743.1111085400714,
+            -1318.727581368012,
+            -306.13462037497396
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            745.7091847514248,
+            -1320.227581368012,
+            -306.13462037497396
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            760.0,
+            -1340.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_26/astar_data/low_long/2024-12-31_21-44-59_783368690/pose.jsonl

@@ -0,0 +1,132 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            491.01469035159016,
+            -2466.1529033926836,
+            -293.14988527566544
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            491.01469035159016,
+            -2469.1529033926836,
+            -293.14988527566544
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            491.01469035159016,
+            -2472.1529033926836,
+            -293.14988527566544
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            491.01469035159016,
+            -2475.1529033926836,
+            -293.14988527566544
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            491.01469035159016,
+            -2478.1529033926836,
+            -293.14988527566544
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            491.01469035159016,
+            -2478.1529033926836,
+            -293.14988527566544
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            489.51469035159016,
+            -2480.7509796040367,
+            -293.14988527566544
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            488.01469035159016,
+            -2483.34905581539,
+            -293.14988527566544
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            486.51469035159016,
+            -2485.947132026743,
+            -293.14988527566544
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            464.0,
+            -2636.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_26/astar_data/low_long/2024-12-31_21-54-4_233665123/pose.jsonl

@@ -0,0 +1,860 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            585.0749064569036,
+            -1200.7330918929108,
+            -305.8049561148639
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            588.0749064569036,
+            -1200.7330918929108,
+            -305.8049561148639
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            591.0749064569036,
+            -1200.7330918929108,
+            -305.8049561148639
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            594.0749064569036,
+            -1200.7330918929108,
+            -305.8049561148639
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            597.0749064569036,
+            -1200.7330918929108,
+            -305.8049561148639
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            600.0749064569036,
+            -1200.7330918929108,
+            -305.8049561148639
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            603.0749064569036,
+            -1200.7330918929108,
+            -305.8049561148639
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            603.0749064569036,
+            -1200.7330918929108,
+            -305.8049561148639
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            605.672982668257,
+            -1199.2330918929108,
+            -305.8049561148639
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            608.2710588796103,
+            -1197.7330918929108,
+            -305.8049561148639
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            608.2710588796103,
+            -1197.7330918929108,
+            -305.8049561148639
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            609.7710588796103,
+            -1195.1350156815574,
+            -305.8049561148639
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            611.2710588796103,
+            -1192.536939470204,
+            -305.8049561148639
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            612.7710588796103,
+            -1189.9388632588507,
+            -305.8049561148639
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            614.2710588796103,
+            -1187.3407870474973,
+            -305.8049561148639
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            614.2710588796103,
+            -1187.3407870474973,
+            -305.8049561148639
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            616.8691350909637,
+            -1185.8407870474973,
+            -305.8049561148639
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            619.4672113023171,
+            -1184.3407870474973,
+            -305.8049561148639
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            622.0652875136705,
+            -1182.8407870474973,
+            -305.8049561148639
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            624.6633637250238,
+            -1181.3407870474973,
+            -305.8049561148639
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            624.6633637250238,
+            -1181.3407870474973,
+            -305.8049561148639
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -9.43689570931383e-15
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            627.6633637250238,
+            -1181.3407870474973,
+            -305.8049561148639
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            630.6633637250238,
+            -1181.3407870474973,
+            -305.8049561148639
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            633.6633637250238,
+            -1181.3407870474973,
+            -305.8049561148639
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            636.6633637250238,
+            -1181.3407870474973,
+            -305.8049561148639
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            639.6633637250238,
+            -1181.3407870474973,
+            -305.8049561148639
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            642.6633637250238,
+            -1181.3407870474973,
+            -305.8049561148639
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            645.6633637250238,
+            -1181.3407870474973,
+            -305.8049561148639
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            648.6633637250238,
+            -1181.3407870474973,
+            -305.8049561148639
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            651.6633637250238,
+            -1181.3407870474973,
+            -305.8049561148639
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            654.6633637250238,
+            -1181.3407870474973,
+            -305.8049561148639
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            657.6633637250238,
+            -1181.3407870474973,
+            -305.8049561148639
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            660.6633637250238,
+            -1181.3407870474973,
+            -305.8049561148639
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            663.6633637250238,
+            -1181.3407870474973,
+            -305.8049561148639
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            666.6633637250238,
+            -1181.3407870474973,
+            -305.8049561148639
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            669.6633637250238,
+            -1181.3407870474973,
+            -305.8049561148639
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            672.6633637250238,
+            -1181.3407870474973,
+            -305.8049561148639
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            675.6633637250238,
+            -1181.3407870474973,
+            -305.8049561148639
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            678.6633637250238,
+            -1181.3407870474973,
+            -305.8049561148639
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            681.6633637250238,
+            -1181.3407870474973,
+            -305.8049561148639
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            684.6633637250238,
+            -1181.3407870474973,
+            -305.8049561148639
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            684.6633637250238,
+            -1181.3407870474973,
+            -305.8049561148639
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            687.2614399363772,
+            -1182.8407870474973,
+            -305.8049561148639
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            689.8595161477306,
+            -1184.3407870474973,
+            -305.8049561148639
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            692.457592359084,
+            -1185.8407870474973,
+            -305.8049561148639
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            695.0556685704373,
+            -1187.3407870474973,
+            -305.8049561148639
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            697.6537447817907,
+            -1188.8407870474973,
+            -305.8049561148639
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            700.2518209931441,
+            -1190.3407870474973,
+            -305.8049561148639
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            702.8498972044974,
+            -1191.8407870474973,
+            -305.8049561148639
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            705.4479734158508,
+            -1193.3407870474973,
+            -305.8049561148639
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            708.0460496272042,
+            -1194.8407870474973,
+            -305.8049561148639
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            710.6441258385576,
+            -1196.3407870474973,
+            -305.8049561148639
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            713.2422020499109,
+            -1197.8407870474973,
+            -305.8049561148639
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            715.8402782612643,
+            -1199.3407870474973,
+            -305.8049561148639
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            718.4383544726177,
+            -1200.8407870474973,
+            -305.8049561148639
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            721.036430683971,
+            -1202.3407870474973,
+            -305.8049561148639
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            723.6345068953244,
+            -1203.8407870474973,
+            -305.8049561148639
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            726.2325831066778,
+            -1205.3407870474973,
+            -305.8049561148639
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            728.8306593180312,
+            -1206.8407870474973,
+            -305.8049561148639
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            731.4287355293845,
+            -1208.3407870474973,
+            -305.8049561148639
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            734.0268117407379,
+            -1209.8407870474973,
+            -305.8049561148639
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            736.6248879520913,
+            -1211.3407870474973,
+            -305.8049561148639
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            739.2229641634447,
+            -1212.8407870474973,
+            -305.8049561148639
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            741.821040374798,
+            -1214.3407870474973,
+            -305.8049561148639
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            744.4191165861514,
+            -1215.8407870474973,
+            -305.8049561148639
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            756.0,
+            -1216.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_26/astar_data/low_long/2024-12-31_22-5-49_1424268980/pose.jsonl

@@ -0,0 +1,106 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -495.18660826210737,
+            -2583.2791559057373,
+            -309.63117557220426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -493.68660826210737,
+            -2585.8772321170904,
+            -309.63117557220426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -492.18660826210737,
+            -2588.4753083284436,
+            -309.63117557220426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -490.68660826210737,
+            -2591.0733845397967,
+            -309.63117557220426
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -490.68660826210737,
+            -2591.0733845397967,
+            -309.63117557220426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948681
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -490.68660826210737,
+            -2594.0733845397967,
+            -309.63117557220426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -490.68660826210737,
+            -2597.0733845397967,
+            -309.63117557220426
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -440.0,
+            -2752.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_26/astar_data/low_long/2024-12-31_22-52-40_1713258270/pose.jsonl

@@ -0,0 +1,756 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1012.1339354892425,
+            -2452.818299989474,
+            -300.8486203926529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1009.1339354892425,
+            -2452.818299989474,
+            -300.8486203926529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1006.1339354892425,
+            -2452.818299989474,
+            -300.8486203926529
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1006.1339354892425,
+            -2452.818299989474,
+            -300.8486203926529
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1006.1339354892425,
+            -2452.818299989474,
+            -300.8486203926529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1004.6339354892425,
+            -2450.2202237781207,
+            -300.8486203926529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1003.1339354892425,
+            -2447.6221475667676,
+            -300.8486203926529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1001.6339354892425,
+            -2445.0240713554144,
+            -300.8486203926529
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1001.6339354892425,
+            -2445.0240713554144,
+            -300.8486203926529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982706
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -999.0358592778891,
+            -2443.5240713554144,
+            -300.8486203926529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -996.4377830665358,
+            -2442.0240713554144,
+            -300.8486203926529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -993.8397068551824,
+            -2440.5240713554144,
+            -300.8486203926529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -991.241630643829,
+            -2439.0240713554144,
+            -300.8486203926529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -988.6435544324756,
+            -2437.5240713554144,
+            -300.8486203926529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -986.0454782211223,
+            -2436.0240713554144,
+            -300.8486203926529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -983.4474020097689,
+            -2434.5240713554144,
+            -300.8486203926529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -980.8493257984155,
+            -2433.0240713554144,
+            -300.8486203926529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -978.2512495870621,
+            -2431.5240713554144,
+            -300.8486203926529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -975.6531733757088,
+            -2430.0240713554144,
+            -300.8486203926529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -973.0550971643554,
+            -2428.5240713554144,
+            -300.8486203926529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -970.457020953002,
+            -2427.0240713554144,
+            -300.8486203926529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -967.8589447416487,
+            -2425.5240713554144,
+            -300.8486203926529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -965.2608685302953,
+            -2424.0240713554144,
+            -300.8486203926529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -962.6627923189419,
+            -2422.5240713554144,
+            -300.8486203926529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -960.0647161075885,
+            -2421.0240713554144,
+            -300.8486203926529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -957.4666398962352,
+            -2419.5240713554144,
+            -300.8486203926529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -954.8685636848818,
+            -2418.0240713554144,
+            -300.8486203926529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -952.2704874735284,
+            -2416.5240713554144,
+            -300.8486203926529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -949.672411262175,
+            -2415.0240713554144,
+            -300.8486203926529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -947.0743350508217,
+            -2413.5240713554144,
+            -300.8486203926529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -944.4762588394683,
+            -2412.0240713554144,
+            -300.8486203926529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -941.8781826281149,
+            -2410.5240713554144,
+            -300.8486203926529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -939.2801064167616,
+            -2409.0240713554144,
+            -300.8486203926529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -936.6820302054082,
+            -2407.5240713554144,
+            -300.8486203926529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -934.0839539940548,
+            -2406.0240713554144,
+            -300.8486203926529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -931.4858777827014,
+            -2404.5240713554144,
+            -300.8486203926529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -928.8878015713481,
+            -2403.0240713554144,
+            -300.8486203926529
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -928.8878015713481,
+            -2403.0240713554144,
+            -300.8486203926529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -9.43689570931383e-15
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -925.8878015713481,
+            -2403.0240713554144,
+            -300.8486203926529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -922.8878015713481,
+            -2403.0240713554144,
+            -300.8486203926529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -919.8878015713481,
+            -2403.0240713554144,
+            -300.8486203926529
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -919.8878015713481,
+            -2403.0240713554144,
+            -300.8486203926529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -917.2897253599947,
+            -2401.5240713554144,
+            -300.8486203926529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -914.6916491486413,
+            -2400.0240713554144,
+            -300.8486203926529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -912.093572937288,
+            -2398.5240713554144,
+            -300.8486203926529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -909.4954967259346,
+            -2397.0240713554144,
+            -300.8486203926529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -906.8974205145812,
+            -2395.5240713554144,
+            -300.8486203926529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -904.2993443032278,
+            -2394.0240713554144,
+            -300.8486203926529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -901.7012680918745,
+            -2392.5240713554144,
+            -300.8486203926529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -899.1031918805211,
+            -2391.0240713554144,
+            -300.8486203926529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -896.5051156691677,
+            -2389.5240713554144,
+            -300.8486203926529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -893.9070394578143,
+            -2388.0240713554144,
+            -300.8486203926529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -891.308963246461,
+            -2386.5240713554144,
+            -300.8486203926529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -888.7108870351076,
+            -2385.0240713554144,
+            -300.8486203926529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -886.1128108237542,
+            -2383.5240713554144,
+            -300.8486203926529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -883.5147346124008,
+            -2382.0240713554144,
+            -300.8486203926529
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -880.9166584010475,
+            -2380.5240713554144,
+            -300.8486203926529
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -872.0,
+            -2372.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_26/astar_data/low_long/2024-12-31_22-52-8_515530019/pose.jsonl

@@ -0,0 +1,691 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1172.2717282244826,
+            -1211.8907053364915,
+            -300.7174805781272
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1169.6736520131292,
+            -1213.3907053364915,
+            -300.7174805781272
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1167.0755758017758,
+            -1214.8907053364915,
+            -300.7174805781272
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1164.4774995904224,
+            -1216.3907053364915,
+            -300.7174805781272
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1161.879423379069,
+            -1217.8907053364915,
+            -300.7174805781272
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1159.2813471677157,
+            -1219.3907053364915,
+            -300.7174805781272
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1156.6832709563623,
+            -1220.8907053364915,
+            -300.7174805781272
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1154.085194745009,
+            -1222.3907053364915,
+            -300.7174805781272
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1151.4871185336556,
+            -1223.8907053364915,
+            -300.7174805781272
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1148.8890423223022,
+            -1225.3907053364915,
+            -300.7174805781272
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1146.2909661109488,
+            -1226.8907053364915,
+            -300.7174805781272
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1143.6928898995955,
+            -1228.3907053364915,
+            -300.7174805781272
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1141.094813688242,
+            -1229.8907053364915,
+            -300.7174805781272
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1141.094813688242,
+            -1229.8907053364915,
+            -300.7174805781272
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1139.594813688242,
+            -1232.4887815478448,
+            -300.7174805781272
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1138.094813688242,
+            -1235.0868577591982,
+            -300.7174805781272
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1136.594813688242,
+            -1237.6849339705516,
+            -300.7174805781272
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1135.094813688242,
+            -1240.283010181905,
+            -300.7174805781272
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1133.594813688242,
+            -1242.8810863932583,
+            -300.7174805781272
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1132.094813688242,
+            -1245.4791626046117,
+            -300.7174805781272
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1130.594813688242,
+            -1248.077238815965,
+            -300.7174805781272
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1129.094813688242,
+            -1250.6753150273184,
+            -300.7174805781272
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1127.594813688242,
+            -1253.2733912386718,
+            -300.7174805781272
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1127.594813688242,
+            -1253.2733912386718,
+            -300.7174805781272
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1124.9967374768887,
+            -1254.7733912386718,
+            -300.7174805781272
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1122.3986612655353,
+            -1256.2733912386718,
+            -300.7174805781272
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1119.800585054182,
+            -1257.7733912386718,
+            -300.7174805781272
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1117.2025088428286,
+            -1259.2733912386718,
+            -300.7174805781272
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1114.6044326314752,
+            -1260.7733912386718,
+            -300.7174805781272
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1112.0063564201218,
+            -1262.2733912386718,
+            -300.7174805781272
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1109.4082802087685,
+            -1263.7733912386718,
+            -300.7174805781272
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1106.810203997415,
+            -1265.2733912386718,
+            -300.7174805781272
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1104.2121277860617,
+            -1266.7733912386718,
+            -300.7174805781272
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1101.6140515747084,
+            -1268.2733912386718,
+            -300.7174805781272
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1099.015975363355,
+            -1269.7733912386718,
+            -300.7174805781272
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1096.4178991520016,
+            -1271.2733912386718,
+            -300.7174805781272
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1093.8198229406482,
+            -1272.7733912386718,
+            -300.7174805781272
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1091.2217467292949,
+            -1274.2733912386718,
+            -300.7174805781272
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1088.6236705179415,
+            -1275.7733912386718,
+            -300.7174805781272
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1086.0255943065881,
+            -1277.2733912386718,
+            -300.7174805781272
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1083.4275180952347,
+            -1278.7733912386718,
+            -300.7174805781272
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1080.8294418838814,
+            -1280.2733912386718,
+            -300.7174805781272
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1078.231365672528,
+            -1281.7733912386718,
+            -300.7174805781272
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1075.6332894611746,
+            -1283.2733912386718,
+            -300.7174805781272
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1073.0352132498213,
+            -1284.7733912386718,
+            -300.7174805781272
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1070.4371370384679,
+            -1286.2733912386718,
+            -300.7174805781272
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1067.8390608271145,
+            -1287.7733912386718,
+            -300.7174805781272
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1065.2409846157611,
+            -1289.2733912386718,
+            -300.7174805781272
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1065.2409846157611,
+            -1289.2733912386718,
+            -300.7174805781272
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1063.7409846157611,
+            -1291.8714674500252,
+            -300.7174805781272
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            1062.2409846157611,
+            -1294.4695436613786,
+            -300.7174805781272
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            1060.7409846157611,
+            -1297.067619872732,
+            -300.7174805781272
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1040.0,
+            -1312.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_26/astar_data/low_long/2024-12-31_22-54-14_2077486715/pose.jsonl

@@ -0,0 +1,691 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            844.4359223149585,
+            -1396.1417209564977,
+            -301.7717966536255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            847.4359223149585,
+            -1396.1417209564977,
+            -301.7717966536255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            850.4359223149585,
+            -1396.1417209564977,
+            -301.7717966536255
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            850.4359223149585,
+            -1396.1417209564977,
+            -301.7717966536255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            853.0339985263117,
+            -1394.6417209564977,
+            -301.7717966536255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            855.6320747376651,
+            -1393.1417209564977,
+            -301.7717966536255
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            855.6320747376651,
+            -1393.1417209564977,
+            -301.7717966536255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            857.1320747376651,
+            -1390.5436447451443,
+            -301.7717966536255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            858.6320747376651,
+            -1387.945568533791,
+            -301.7717966536255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            860.1320747376651,
+            -1385.3474923224376,
+            -301.7717966536255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            861.6320747376651,
+            -1382.7494161110842,
+            -301.7717966536255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            863.1320747376651,
+            -1380.1513398997308,
+            -301.7717966536255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            864.6320747376651,
+            -1377.5532636883775,
+            -301.7717966536255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            866.1320747376651,
+            -1374.955187477024,
+            -301.7717966536255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            867.6320747376651,
+            -1372.3571112656707,
+            -301.7717966536255
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            867.6320747376651,
+            -1372.3571112656707,
+            -301.7717966536255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            867.6320747376651,
+            -1369.3571112656707,
+            -301.7717966536255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            867.6320747376651,
+            -1366.3571112656707,
+            -301.7717966536255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            867.6320747376651,
+            -1363.3571112656707,
+            -301.7717966536255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            867.6320747376651,
+            -1360.3571112656707,
+            -301.7717966536255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            867.6320747376651,
+            -1357.3571112656707,
+            -301.7717966536255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            867.6320747376651,
+            -1354.3571112656707,
+            -301.7717966536255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            867.6320747376651,
+            -1351.3571112656707,
+            -301.7717966536255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            867.6320747376651,
+            -1348.3571112656707,
+            -301.7717966536255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            867.6320747376651,
+            -1345.3571112656707,
+            -301.7717966536255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            867.6320747376651,
+            -1342.3571112656707,
+            -301.7717966536255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            867.6320747376651,
+            -1339.3571112656707,
+            -301.7717966536255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            867.6320747376651,
+            -1336.3571112656707,
+            -301.7717966536255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            867.6320747376651,
+            -1333.3571112656707,
+            -301.7717966536255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            867.6320747376651,
+            -1330.3571112656707,
+            -301.7717966536255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            867.6320747376651,
+            -1327.3571112656707,
+            -301.7717966536255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            867.6320747376651,
+            -1324.3571112656707,
+            -301.7717966536255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            867.6320747376651,
+            -1321.3571112656707,
+            -301.7717966536255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            867.6320747376651,
+            -1318.3571112656707,
+            -301.7717966536255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            867.6320747376651,
+            -1315.3571112656707,
+            -301.7717966536255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            867.6320747376651,
+            -1312.3571112656707,
+            -301.7717966536255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            867.6320747376651,
+            -1309.3571112656707,
+            -301.7717966536255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            867.6320747376651,
+            -1306.3571112656707,
+            -301.7717966536255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            867.6320747376651,
+            -1303.3571112656707,
+            -301.7717966536255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            867.6320747376651,
+            -1300.3571112656707,
+            -301.7717966536255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            867.6320747376651,
+            -1297.3571112656707,
+            -301.7717966536255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            867.6320747376651,
+            -1294.3571112656707,
+            -301.7717966536255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            867.6320747376651,
+            -1291.3571112656707,
+            -301.7717966536255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            867.6320747376651,
+            -1288.3571112656707,
+            -301.7717966536255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            867.6320747376651,
+            -1285.3571112656707,
+            -301.7717966536255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            867.6320747376651,
+            -1282.3571112656707,
+            -301.7717966536255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            867.6320747376651,
+            -1279.3571112656707,
+            -301.7717966536255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            867.6320747376651,
+            -1276.3571112656707,
+            -301.7717966536255
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            867.6320747376651,
+            -1276.3571112656707,
+            -301.7717966536255
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            867.6320747376651,
+            -1276.3571112656707,
+            -301.7717966536255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982989
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            870.2301509490185,
+            -1274.8571112656707,
+            -301.7717966536255
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            872.8282271603719,
+            -1273.3571112656707,
+            -301.7717966536255
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            880.0,
+            -1248.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_26/astar_data/low_long/2024-12-31_22-56-30_1117142618/pose.jsonl

@@ -0,0 +1,665 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -398.52688781041843,
+            -1952.8869538516356,
+            -312.1203245441188
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -401.52688781041843,
+            -1952.8869538516356,
+            -312.1203245441188
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -404.52688781041843,
+            -1952.8869538516356,
+            -312.1203245441188
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -407.52688781041843,
+            -1952.8869538516356,
+            -312.1203245441188
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -410.52688781041843,
+            -1952.8869538516356,
+            -312.1203245441188
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -413.52688781041843,
+            -1952.8869538516356,
+            -312.1203245441188
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -416.52688781041843,
+            -1952.8869538516356,
+            -312.1203245441188
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -419.52688781041843,
+            -1952.8869538516356,
+            -312.1203245441188
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -422.52688781041843,
+            -1952.8869538516356,
+            -312.1203245441188
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -425.52688781041843,
+            -1952.8869538516356,
+            -312.1203245441188
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -428.52688781041843,
+            -1952.8869538516356,
+            -312.1203245441188
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -431.52688781041843,
+            -1952.8869538516356,
+            -312.1203245441188
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -434.52688781041843,
+            -1952.8869538516356,
+            -312.1203245441188
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -437.52688781041843,
+            -1952.8869538516356,
+            -312.1203245441188
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -440.52688781041843,
+            -1952.8869538516356,
+            -312.1203245441188
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -443.52688781041843,
+            -1952.8869538516356,
+            -312.1203245441188
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -446.52688781041843,
+            -1952.8869538516356,
+            -312.1203245441188
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -449.52688781041843,
+            -1952.8869538516356,
+            -312.1203245441188
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -452.52688781041843,
+            -1952.8869538516356,
+            -312.1203245441188
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -455.52688781041843,
+            -1952.8869538516356,
+            -312.1203245441188
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -458.52688781041843,
+            -1952.8869538516356,
+            -312.1203245441188
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -461.52688781041843,
+            -1952.8869538516356,
+            -312.1203245441188
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -464.52688781041843,
+            -1952.8869538516356,
+            -312.1203245441188
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -467.52688781041843,
+            -1952.8869538516356,
+            -312.1203245441188
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -470.52688781041843,
+            -1952.8869538516356,
+            -312.1203245441188
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -473.52688781041843,
+            -1952.8869538516356,
+            -312.1203245441188
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -476.52688781041843,
+            -1952.8869538516356,
+            -312.1203245441188
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -479.52688781041843,
+            -1952.8869538516356,
+            -312.1203245441188
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -482.52688781041843,
+            -1952.8869538516356,
+            -312.1203245441188
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -485.52688781041843,
+            -1952.8869538516356,
+            -312.1203245441188
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -488.52688781041843,
+            -1952.8869538516356,
+            -312.1203245441188
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -491.52688781041843,
+            -1952.8869538516356,
+            -312.1203245441188
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -494.52688781041843,
+            -1952.8869538516356,
+            -312.1203245441188
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -497.52688781041843,
+            -1952.8869538516356,
+            -312.1203245441188
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -500.52688781041843,
+            -1952.8869538516356,
+            -312.1203245441188
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -503.52688781041843,
+            -1952.8869538516356,
+            -312.1203245441188
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -506.52688781041843,
+            -1952.8869538516356,
+            -312.1203245441188
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -509.52688781041843,
+            -1952.8869538516356,
+            -312.1203245441188
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -512.5268878104184,
+            -1952.8869538516356,
+            -312.1203245441188
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -515.5268878104184,
+            -1952.8869538516356,
+            -312.1203245441188
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -518.5268878104184,
+            -1952.8869538516356,
+            -312.1203245441188
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -521.5268878104184,
+            -1952.8869538516356,
+            -312.1203245441188
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -524.5268878104184,
+            -1952.8869538516356,
+            -312.1203245441188
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -524.5268878104184,
+            -1952.8869538516356,
+            -312.1203245441188
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -527.1249640217718,
+            -1951.3869538516356,
+            -312.1203245441188
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -529.7230402331252,
+            -1949.8869538516356,
+            -312.1203245441188
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -532.3211164444785,
+            -1948.3869538516356,
+            -312.1203245441188
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -534.9191926558319,
+            -1946.8869538516356,
+            -312.1203245441188
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -537.5172688671853,
+            -1945.3869538516356,
+            -312.1203245441188
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -540.1153450785387,
+            -1943.8869538516356,
+            -312.1203245441188
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -572.0,
+            -1940.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_26/astar_data/low_long/2024-12-31_22-56-3_289700723/pose.jsonl

@@ -0,0 +1,639 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            526.2266604758306,
+            -1750.6810486222046,
+            -297.5232361171674
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            524.7266604758306,
+            -1748.0829724108512,
+            -297.5232361171674
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            523.2266604758306,
+            -1745.4848961994978,
+            -297.5232361171674
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            521.7266604758306,
+            -1742.8868199881445,
+            -297.5232361171674
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            520.2266604758306,
+            -1740.288743776791,
+            -297.5232361171674
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            518.7266604758306,
+            -1737.6906675654377,
+            -297.5232361171674
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            517.2266604758306,
+            -1735.0925913540843,
+            -297.5232361171674
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            515.7266604758306,
+            -1732.494515142731,
+            -297.5232361171674
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            514.2266604758306,
+            -1729.8964389313776,
+            -297.5232361171674
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            512.7266604758306,
+            -1727.2983627200242,
+            -297.5232361171674
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            511.2266604758306,
+            -1724.7002865086708,
+            -297.5232361171674
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            509.7266604758306,
+            -1722.1022102973175,
+            -297.5232361171674
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            509.7266604758306,
+            -1722.1022102973175,
+            -297.5232361171674
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            507.1285842644773,
+            -1720.6022102973175,
+            -297.5232361171674
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            504.530508053124,
+            -1719.1022102973175,
+            -297.5232361171674
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            501.93243184177066,
+            -1717.6022102973175,
+            -297.5232361171674
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            499.33435563041735,
+            -1716.1022102973175,
+            -297.5232361171674
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            496.73627941906403,
+            -1714.6022102973175,
+            -297.5232361171674
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            494.1382032077107,
+            -1713.1022102973175,
+            -297.5232361171674
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            491.5401269963574,
+            -1711.6022102973175,
+            -297.5232361171674
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            488.9420507850041,
+            -1710.1022102973175,
+            -297.5232361171674
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            486.34397457365077,
+            -1708.6022102973175,
+            -297.5232361171674
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            483.74589836229745,
+            -1707.1022102973175,
+            -297.5232361171674
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            481.14782215094414,
+            -1705.6022102973175,
+            -297.5232361171674
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            478.5497459395908,
+            -1704.1022102973175,
+            -297.5232361171674
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            475.9516697282375,
+            -1702.6022102973175,
+            -297.5232361171674
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            473.3535935168842,
+            -1701.1022102973175,
+            -297.5232361171674
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            470.7555173055309,
+            -1699.6022102973175,
+            -297.5232361171674
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            468.15744109417756,
+            -1698.1022102973175,
+            -297.5232361171674
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            468.15744109417756,
+            -1698.1022102973175,
+            -297.5232361171674
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            466.65744109417756,
+            -1695.504134085964,
+            -297.5232361171674
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            465.15744109417756,
+            -1692.9060578746107,
+            -297.5232361171674
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            463.65744109417756,
+            -1690.3079816632574,
+            -297.5232361171674
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            462.15744109417756,
+            -1687.709905451904,
+            -297.5232361171674
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            460.65744109417756,
+            -1685.1118292405506,
+            -297.5232361171674
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            459.15744109417756,
+            -1682.5137530291972,
+            -297.5232361171674
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            457.65744109417756,
+            -1679.9156768178439,
+            -297.5232361171674
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            456.15744109417756,
+            -1677.3176006064905,
+            -297.5232361171674
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            454.65744109417756,
+            -1674.7195243951371,
+            -297.5232361171674
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            453.15744109417756,
+            -1672.1214481837837,
+            -297.5232361171674
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            451.65744109417756,
+            -1669.5233719724304,
+            -297.5232361171674
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            450.15744109417756,
+            -1666.925295761077,
+            -297.5232361171674
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            448.65744109417756,
+            -1664.3272195497236,
+            -297.5232361171674
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            447.15744109417756,
+            -1661.7291433383702,
+            -297.5232361171674
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            445.65744109417756,
+            -1659.1310671270169,
+            -297.5232361171674
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            444.15744109417756,
+            -1656.5329909156635,
+            -297.5232361171674
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            444.15744109417756,
+            -1656.5329909156635,
+            -297.5232361171674
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            441.55936488282424,
+            -1655.0329909156635,
+            -297.5232361171674
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914846
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            424.0,
+            -1636.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_26/astar_data/low_long/2024-12-31_23-16-25_1605894428/pose.jsonl

@@ -0,0 +1,717 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            644.7968915478754,
+            -1538.5591107344408,
+            -297.5752737921745
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            644.7968915478754,
+            -1541.5591107344408,
+            -297.5752737921745
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            644.7968915478754,
+            -1544.5591107344408,
+            -297.5752737921745
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            644.7968915478754,
+            -1547.5591107344408,
+            -297.5752737921745
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            644.7968915478754,
+            -1550.5591107344408,
+            -297.5752737921745
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            644.7968915478754,
+            -1553.5591107344408,
+            -297.5752737921745
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            644.7968915478754,
+            -1556.5591107344408,
+            -297.5752737921745
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            644.7968915478754,
+            -1559.5591107344408,
+            -297.5752737921745
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            644.7968915478754,
+            -1562.5591107344408,
+            -297.5752737921745
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            644.7968915478754,
+            -1565.5591107344408,
+            -297.5752737921745
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            644.7968915478754,
+            -1568.5591107344408,
+            -297.5752737921745
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            644.7968915478754,
+            -1571.5591107344408,
+            -297.5752737921745
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            644.7968915478754,
+            -1574.5591107344408,
+            -297.5752737921745
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            644.7968915478754,
+            -1577.5591107344408,
+            -297.5752737921745
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            644.7968915478754,
+            -1580.5591107344408,
+            -297.5752737921745
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            644.7968915478754,
+            -1583.5591107344408,
+            -297.5752737921745
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            644.7968915478754,
+            -1586.5591107344408,
+            -297.5752737921745
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            644.7968915478754,
+            -1589.5591107344408,
+            -297.5752737921745
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            644.7968915478754,
+            -1592.5591107344408,
+            -297.5752737921745
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            644.7968915478754,
+            -1595.5591107344408,
+            -297.5752737921745
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            644.7968915478754,
+            -1598.5591107344408,
+            -297.5752737921745
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            644.7968915478754,
+            -1601.5591107344408,
+            -297.5752737921745
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            644.7968915478754,
+            -1604.5591107344408,
+            -297.5752737921745
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            644.7968915478754,
+            -1607.5591107344408,
+            -297.5752737921745
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            644.7968915478754,
+            -1610.5591107344408,
+            -297.5752737921745
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            644.7968915478754,
+            -1613.5591107344408,
+            -297.5752737921745
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            644.7968915478754,
+            -1616.5591107344408,
+            -297.5752737921745
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            644.7968915478754,
+            -1619.5591107344408,
+            -297.5752737921745
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            644.7968915478754,
+            -1622.5591107344408,
+            -297.5752737921745
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            644.7968915478754,
+            -1625.5591107344408,
+            -297.5752737921745
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            644.7968915478754,
+            -1628.5591107344408,
+            -297.5752737921745
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            644.7968915478754,
+            -1631.5591107344408,
+            -297.5752737921745
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            644.7968915478754,
+            -1634.5591107344408,
+            -297.5752737921745
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            644.7968915478754,
+            -1637.5591107344408,
+            -297.5752737921745
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            644.7968915478754,
+            -1640.5591107344408,
+            -297.5752737921745
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            644.7968915478754,
+            -1643.5591107344408,
+            -297.5752737921745
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            644.7968915478754,
+            -1646.5591107344408,
+            -297.5752737921745
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            644.7968915478754,
+            -1649.5591107344408,
+            -297.5752737921745
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            644.7968915478754,
+            -1652.5591107344408,
+            -297.5752737921745
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            644.7968915478754,
+            -1655.5591107344408,
+            -297.5752737921745
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            644.7968915478754,
+            -1658.5591107344408,
+            -297.5752737921745
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            644.7968915478754,
+            -1661.5591107344408,
+            -297.5752737921745
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            644.7968915478754,
+            -1664.5591107344408,
+            -297.5752737921745
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            644.7968915478754,
+            -1667.5591107344408,
+            -297.5752737921745
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            644.7968915478754,
+            -1670.5591107344408,
+            -297.5752737921745
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            644.7968915478754,
+            -1673.5591107344408,
+            -297.5752737921745
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            644.7968915478754,
+            -1676.5591107344408,
+            -297.5752737921745
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            644.7968915478754,
+            -1679.5591107344408,
+            -297.5752737921745
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            644.7968915478754,
+            -1682.5591107344408,
+            -297.5752737921745
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            644.7968915478754,
+            -1685.5591107344408,
+            -297.5752737921745
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            644.7968915478754,
+            -1688.5591107344408,
+            -297.5752737921745
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            644.7968915478754,
+            -1688.5591107344408,
+            -297.5752737921745
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            643.2968915478754,
+            -1691.1571869457941,
+            -297.5752737921745
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            641.7968915478754,
+            -1693.7552631571475,
+            -297.5752737921745
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            640.0,
+            -1708.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_26/astar_data/low_long/2024-12-31_23-16-55_1789366143/pose.jsonl

@@ -0,0 +1,444 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            159.3093535735709,
+            -2401.2610824721023,
+            -306.2557269720619
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            160.8093535735709,
+            -2403.8591586834555,
+            -306.2557269720619
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            162.3093535735709,
+            -2406.4572348948086,
+            -306.2557269720619
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            163.8093535735709,
+            -2409.0553111061618,
+            -306.2557269720619
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            165.3093535735709,
+            -2411.653387317515,
+            -306.2557269720619
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            166.8093535735709,
+            -2414.251463528868,
+            -306.2557269720619
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            168.3093535735709,
+            -2416.849539740221,
+            -306.2557269720619
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            169.8093535735709,
+            -2419.4476159515743,
+            -306.2557269720619
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            171.3093535735709,
+            -2422.0456921629275,
+            -306.2557269720619
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            172.8093535735709,
+            -2424.6437683742806,
+            -306.2557269720619
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            174.3093535735709,
+            -2427.2418445856338,
+            -306.2557269720619
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            175.8093535735709,
+            -2429.839920796987,
+            -306.2557269720619
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            177.3093535735709,
+            -2432.43799700834,
+            -306.2557269720619
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            178.8093535735709,
+            -2435.036073219693,
+            -306.2557269720619
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            180.3093535735709,
+            -2437.6341494310464,
+            -306.2557269720619
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            181.8093535735709,
+            -2440.2322256423995,
+            -306.2557269720619
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            183.3093535735709,
+            -2442.8303018537526,
+            -306.2557269720619
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            184.8093535735709,
+            -2445.428378065106,
+            -306.2557269720619
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            184.8093535735709,
+            -2445.428378065106,
+            -306.2557269720619
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948681
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            184.8093535735709,
+            -2448.428378065106,
+            -306.2557269720619
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            184.8093535735709,
+            -2451.428378065106,
+            -306.2557269720619
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            184.8093535735709,
+            -2454.428378065106,
+            -306.2557269720619
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            184.8093535735709,
+            -2457.428378065106,
+            -306.2557269720619
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            184.8093535735709,
+            -2460.428378065106,
+            -306.2557269720619
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            184.8093535735709,
+            -2463.428378065106,
+            -306.2557269720619
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            184.8093535735709,
+            -2466.428378065106,
+            -306.2557269720619
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            184.8093535735709,
+            -2469.428378065106,
+            -306.2557269720619
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            184.8093535735709,
+            -2472.428378065106,
+            -306.2557269720619
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            184.8093535735709,
+            -2475.428378065106,
+            -306.2557269720619
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            184.8093535735709,
+            -2478.428378065106,
+            -306.2557269720619
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            184.8093535735709,
+            -2481.428378065106,
+            -306.2557269720619
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            184.8093535735709,
+            -2484.428378065106,
+            -306.2557269720619
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            184.8093535735709,
+            -2487.428378065106,
+            -306.2557269720619
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            204.0,
+            -2548.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_26/astar_data/low_long/2024-12-31_23-47-27_1308044878/pose.jsonl

@@ -0,0 +1,457 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1292.0595826953238,
+            -1997.07189635061,
+            -293.2879944594317
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1292.0595826953238,
+            -2000.07189635061,
+            -293.2879944594317
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1292.0595826953238,
+            -2003.07189635061,
+            -293.2879944594317
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1292.0595826953238,
+            -2006.07189635061,
+            -293.2879944594317
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1292.0595826953238,
+            -2009.07189635061,
+            -293.2879944594317
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1292.0595826953238,
+            -2012.07189635061,
+            -293.2879944594317
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1292.0595826953238,
+            -2015.07189635061,
+            -293.2879944594317
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1292.0595826953238,
+            -2018.07189635061,
+            -293.2879944594317
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1292.0595826953238,
+            -2021.07189635061,
+            -293.2879944594317
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1292.0595826953238,
+            -2024.07189635061,
+            -293.2879944594317
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1292.0595826953238,
+            -2024.07189635061,
+            -293.2879944594317
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1293.5595826953238,
+            -2026.6699725619633,
+            -293.2879944594317
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1295.0595826953238,
+            -2029.2680487733167,
+            -293.2879944594317
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1296.5595826953238,
+            -2031.86612498467,
+            -293.2879944594317
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1298.0595826953238,
+            -2034.4642011960234,
+            -293.2879944594317
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1298.0595826953238,
+            -2034.4642011960234,
+            -293.2879944594317
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1298.0595826953238,
+            -2037.4642011960234,
+            -293.2879944594317
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1298.0595826953238,
+            -2040.4642011960234,
+            -293.2879944594317
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1298.0595826953238,
+            -2043.4642011960234,
+            -293.2879944594317
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1298.0595826953238,
+            -2046.4642011960234,
+            -293.2879944594317
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1298.0595826953238,
+            -2049.464201196023,
+            -293.2879944594317
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1298.0595826953238,
+            -2052.464201196023,
+            -293.2879944594317
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1298.0595826953238,
+            -2055.464201196023,
+            -293.2879944594317
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1298.0595826953238,
+            -2058.464201196023,
+            -293.2879944594317
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1298.0595826953238,
+            -2061.464201196023,
+            -293.2879944594317
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1298.0595826953238,
+            -2064.464201196023,
+            -293.2879944594317
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1298.0595826953238,
+            -2067.464201196023,
+            -293.2879944594317
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1298.0595826953238,
+            -2070.464201196023,
+            -293.2879944594317
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1298.0595826953238,
+            -2073.464201196023,
+            -293.2879944594317
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1298.0595826953238,
+            -2076.464201196023,
+            -293.2879944594317
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1298.0595826953238,
+            -2079.464201196023,
+            -293.2879944594317
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1298.0595826953238,
+            -2082.464201196023,
+            -293.2879944594317
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1298.0595826953238,
+            -2085.464201196023,
+            -293.2879944594317
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1298.0595826953238,
+            -2088.464201196023,
+            -293.2879944594317
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1300.0,
+            -2152.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_26/astar_data/low_long/2024-12-31_23-58-58_1665947468/pose.jsonl

@@ -0,0 +1,834 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            12.26224476220304,
+            -1621.0177948163237,
+            -294.98095184090755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            14.860320973556355,
+            -1622.5177948163237,
+            -294.98095184090755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            17.45839718490967,
+            -1624.0177948163237,
+            -294.98095184090755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            20.056473396262987,
+            -1625.5177948163237,
+            -294.98095184090755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            22.654549607616303,
+            -1627.0177948163237,
+            -294.98095184090755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            25.25262581896962,
+            -1628.5177948163237,
+            -294.98095184090755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            27.850702030322935,
+            -1630.0177948163237,
+            -294.98095184090755
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            27.850702030322935,
+            -1630.0177948163237,
+            -294.98095184090755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            29.350702030322935,
+            -1632.615871027677,
+            -294.98095184090755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            30.850702030322935,
+            -1635.2139472390304,
+            -294.98095184090755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            32.350702030322935,
+            -1637.8120234503838,
+            -294.98095184090755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            33.850702030322935,
+            -1640.4100996617371,
+            -294.98095184090755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            35.350702030322935,
+            -1643.0081758730905,
+            -294.98095184090755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            36.850702030322935,
+            -1645.606252084444,
+            -294.98095184090755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            38.350702030322935,
+            -1648.2043282957973,
+            -294.98095184090755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            39.850702030322935,
+            -1650.8024045071506,
+            -294.98095184090755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            41.350702030322935,
+            -1653.400480718504,
+            -294.98095184090755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            42.850702030322935,
+            -1655.9985569298574,
+            -294.98095184090755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            44.350702030322935,
+            -1658.5966331412108,
+            -294.98095184090755
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            44.350702030322935,
+            -1658.5966331412108,
+            -294.98095184090755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            44.350702030322935,
+            -1661.5966331412108,
+            -294.98095184090755
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            44.350702030322935,
+            -1661.5966331412108,
+            -294.98095184090755
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            44.350702030322935,
+            -1661.5966331412108,
+            -294.98095184090755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982989
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            46.94877824167625,
+            -1663.0966331412108,
+            -294.98095184090755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            49.54685445302957,
+            -1664.5966331412108,
+            -294.98095184090755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            52.14493066438288,
+            -1666.0966331412108,
+            -294.98095184090755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            54.7430068757362,
+            -1667.5966331412108,
+            -294.98095184090755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            57.341083087089515,
+            -1669.0966331412108,
+            -294.98095184090755
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            57.341083087089515,
+            -1669.0966331412108,
+            -294.98095184090755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            60.341083087089515,
+            -1669.0966331412108,
+            -294.98095184090755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            63.341083087089515,
+            -1669.0966331412108,
+            -294.98095184090755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            66.34108308708952,
+            -1669.0966331412108,
+            -294.98095184090755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            69.34108308708952,
+            -1669.0966331412108,
+            -294.98095184090755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            72.34108308708952,
+            -1669.0966331412108,
+            -294.98095184090755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            75.34108308708952,
+            -1669.0966331412108,
+            -294.98095184090755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            78.34108308708952,
+            -1669.0966331412108,
+            -294.98095184090755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            81.34108308708952,
+            -1669.0966331412108,
+            -294.98095184090755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            84.34108308708952,
+            -1669.0966331412108,
+            -294.98095184090755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            87.34108308708952,
+            -1669.0966331412108,
+            -294.98095184090755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            90.34108308708952,
+            -1669.0966331412108,
+            -294.98095184090755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            93.34108308708952,
+            -1669.0966331412108,
+            -294.98095184090755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            96.34108308708952,
+            -1669.0966331412108,
+            -294.98095184090755
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            96.34108308708952,
+            -1669.0966331412108,
+            -294.98095184090755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            98.93915929844283,
+            -1670.5966331412108,
+            -294.98095184090755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            101.53723550979615,
+            -1672.0966331412108,
+            -294.98095184090755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            104.13531172114946,
+            -1673.5966331412108,
+            -294.98095184090755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            106.73338793250278,
+            -1675.0966331412108,
+            -294.98095184090755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            109.3314641438561,
+            -1676.5966331412108,
+            -294.98095184090755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            111.92954035520941,
+            -1678.0966331412108,
+            -294.98095184090755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            114.52761656656273,
+            -1679.5966331412108,
+            -294.98095184090755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            117.12569277791604,
+            -1681.0966331412108,
+            -294.98095184090755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            119.72376898926936,
+            -1682.5966331412108,
+            -294.98095184090755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            122.32184520062268,
+            -1684.0966331412108,
+            -294.98095184090755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            124.91992141197599,
+            -1685.5966331412108,
+            -294.98095184090755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            127.51799762332931,
+            -1687.0966331412108,
+            -294.98095184090755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            130.11607383468262,
+            -1688.5966331412108,
+            -294.98095184090755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            132.71415004603594,
+            -1690.0966331412108,
+            -294.98095184090755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            135.31222625738926,
+            -1691.5966331412108,
+            -294.98095184090755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            137.91030246874257,
+            -1693.0966331412108,
+            -294.98095184090755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            140.5083786800959,
+            -1694.5966331412108,
+            -294.98095184090755
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            140.5083786800959,
+            -1694.5966331412108,
+            -294.98095184090755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            143.5083786800959,
+            -1694.5966331412108,
+            -294.98095184090755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            146.5083786800959,
+            -1694.5966331412108,
+            -294.98095184090755
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            164.0,
+            -1704.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_26/astar_data/low_long/2025-01-18_22-52-35_305082/pose.jsonl

@@ -0,0 +1,704 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            758.1718719206551,
+            -1427.0361920682612,
+            -312.06106109374497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            758.1718719206551,
+            -1430.0361920682612,
+            -312.06106109374497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            758.1718719206551,
+            -1433.0361920682612,
+            -312.06106109374497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            758.1718719206551,
+            -1436.0361920682612,
+            -312.06106109374497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            758.1718719206551,
+            -1439.0361920682612,
+            -312.06106109374497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            758.1718719206551,
+            -1442.0361920682612,
+            -312.06106109374497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            758.1718719206551,
+            -1445.0361920682612,
+            -312.06106109374497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            758.1718719206551,
+            -1448.0361920682612,
+            -312.06106109374497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            758.1718719206551,
+            -1451.0361920682612,
+            -312.06106109374497
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            758.1718719206551,
+            -1451.0361920682612,
+            -312.06106109374497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            756.6718719206551,
+            -1453.6342682796146,
+            -312.06106109374497
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            756.6718719206551,
+            -1453.6342682796146,
+            -312.06106109374497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            754.0737957093017,
+            -1455.1342682796146,
+            -312.06106109374497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            751.4757194979484,
+            -1456.6342682796146,
+            -312.06106109374497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            748.877643286595,
+            -1458.1342682796146,
+            -312.06106109374497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            746.2795670752416,
+            -1459.6342682796146,
+            -312.06106109374497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            743.6814908638883,
+            -1461.1342682796146,
+            -312.06106109374497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            741.0834146525349,
+            -1462.6342682796146,
+            -312.06106109374497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            738.4853384411815,
+            -1464.1342682796146,
+            -312.06106109374497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            735.8872622298281,
+            -1465.6342682796146,
+            -312.06106109374497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            733.2891860184748,
+            -1467.1342682796146,
+            -312.06106109374497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            730.6911098071214,
+            -1468.6342682796146,
+            -312.06106109374497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            728.093033595768,
+            -1470.1342682796146,
+            -312.06106109374497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            725.4949573844146,
+            -1471.6342682796146,
+            -312.06106109374497
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            725.4949573844146,
+            -1471.6342682796146,
+            -309.06106109374497
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            725.4949573844146,
+            -1471.6342682796146,
+            -306.06106109374497
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            725.4949573844146,
+            -1471.6342682796146,
+            -306.06106109374497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            723.9949573844146,
+            -1474.232344490968,
+            -306.06106109374497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            722.4949573844146,
+            -1476.8304207023214,
+            -306.06106109374497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            720.9949573844146,
+            -1479.4284969136747,
+            -306.06106109374497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            719.4949573844146,
+            -1482.026573125028,
+            -306.06106109374497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            717.9949573844146,
+            -1484.6246493363815,
+            -306.06106109374497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            716.4949573844146,
+            -1487.2227255477349,
+            -306.06106109374497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            714.9949573844146,
+            -1489.8208017590882,
+            -306.06106109374497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            713.4949573844146,
+            -1492.4188779704416,
+            -306.06106109374497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            711.9949573844146,
+            -1495.016954181795,
+            -306.06106109374497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            710.4949573844146,
+            -1497.6150303931483,
+            -306.06106109374497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            708.9949573844146,
+            -1500.2131066045017,
+            -306.06106109374497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            707.4949573844146,
+            -1502.811182815855,
+            -306.06106109374497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            705.9949573844146,
+            -1505.4092590272085,
+            -306.06106109374497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            704.4949573844146,
+            -1508.0073352385618,
+            -306.06106109374497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            702.9949573844146,
+            -1510.6054114499152,
+            -306.06106109374497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            701.4949573844146,
+            -1513.2034876612686,
+            -306.06106109374497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            699.9949573844146,
+            -1515.801563872622,
+            -306.06106109374497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            698.4949573844146,
+            -1518.3996400839753,
+            -306.06106109374497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            696.9949573844146,
+            -1520.9977162953287,
+            -306.06106109374497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            695.4949573844146,
+            -1523.595792506682,
+            -306.06106109374497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            693.9949573844146,
+            -1526.1938687180354,
+            -306.06106109374497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            692.4949573844146,
+            -1528.7919449293888,
+            -306.06106109374497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            690.9949573844146,
+            -1531.3900211407422,
+            -306.06106109374497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            689.4949573844146,
+            -1533.9880973520956,
+            -306.06106109374497
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            689.4949573844146,
+            -1533.9880973520956,
+            -309.06106109374497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            687.9949573844146,
+            -1536.586173563449,
+            -309.06106109374497
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            672.0,
+            -1560.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_26/astar_data/low_long/2025-01-18_23-17-40_870602/pose.jsonl

@@ -0,0 +1,899 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1459.0619007002617,
+            -2931.9877573978506,
+            -300.1641937951083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1456.0619007002617,
+            -2931.9877573978506,
+            -300.1641937951083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1453.0619007002617,
+            -2931.9877573978506,
+            -300.1641937951083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1450.0619007002617,
+            -2931.9877573978506,
+            -300.1641937951083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1447.0619007002617,
+            -2931.9877573978506,
+            -300.1641937951083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1444.0619007002617,
+            -2931.9877573978506,
+            -300.1641937951083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1441.0619007002617,
+            -2931.9877573978506,
+            -300.1641937951083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1438.0619007002617,
+            -2931.9877573978506,
+            -300.1641937951083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1435.0619007002617,
+            -2931.9877573978506,
+            -300.1641937951083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1432.0619007002617,
+            -2931.9877573978506,
+            -300.1641937951083
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1432.0619007002617,
+            -2931.9877573978506,
+            -297.1641937951083
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1432.0619007002617,
+            -2931.9877573978506,
+            -294.1641937951083
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1432.0619007002617,
+            -2931.9877573978506,
+            -291.1641937951083
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1432.0619007002617,
+            -2931.9877573978506,
+            -288.1641937951083
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1432.0619007002617,
+            -2931.9877573978506,
+            -285.1641937951083
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1432.0619007002617,
+            -2931.9877573978506,
+            -282.1641937951083
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1432.0619007002617,
+            -2931.9877573978506,
+            -279.1641937951083
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1432.0619007002617,
+            -2931.9877573978506,
+            -276.1641937951083
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1432.0619007002617,
+            -2931.9877573978506,
+            -273.1641937951083
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1432.0619007002617,
+            -2931.9877573978506,
+            -270.1641937951083
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1432.0619007002617,
+            -2931.9877573978506,
+            -267.1641937951083
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1432.0619007002617,
+            -2931.9877573978506,
+            -267.1641937951083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1429.4638244889084,
+            -2933.4877573978506,
+            -267.1641937951083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1426.865748277555,
+            -2934.9877573978506,
+            -267.1641937951083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1424.2676720662016,
+            -2936.4877573978506,
+            -267.1641937951083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1421.6695958548482,
+            -2937.9877573978506,
+            -267.1641937951083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1419.0715196434949,
+            -2939.4877573978506,
+            -267.1641937951083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1416.4734434321415,
+            -2940.9877573978506,
+            -267.1641937951083
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1416.4734434321415,
+            -2940.9877573978506,
+            -267.1641937951083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1413.4734434321415,
+            -2940.9877573978506,
+            -267.1641937951083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1410.4734434321415,
+            -2940.9877573978506,
+            -267.1641937951083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1407.4734434321415,
+            -2940.9877573978506,
+            -267.1641937951083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1404.4734434321415,
+            -2940.9877573978506,
+            -267.1641937951083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1401.4734434321415,
+            -2940.9877573978506,
+            -267.1641937951083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1398.4734434321415,
+            -2940.9877573978506,
+            -267.1641937951083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1395.4734434321415,
+            -2940.9877573978506,
+            -267.1641937951083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1392.4734434321415,
+            -2940.9877573978506,
+            -267.1641937951083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1389.4734434321415,
+            -2940.9877573978506,
+            -267.1641937951083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1386.4734434321415,
+            -2940.9877573978506,
+            -267.1641937951083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1383.4734434321415,
+            -2940.9877573978506,
+            -267.1641937951083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1380.4734434321415,
+            -2940.9877573978506,
+            -267.1641937951083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1377.4734434321415,
+            -2940.9877573978506,
+            -267.1641937951083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1374.4734434321415,
+            -2940.9877573978506,
+            -267.1641937951083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1371.4734434321415,
+            -2940.9877573978506,
+            -267.1641937951083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1368.4734434321415,
+            -2940.9877573978506,
+            -267.1641937951083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1365.4734434321415,
+            -2940.9877573978506,
+            -267.1641937951083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1362.4734434321415,
+            -2940.9877573978506,
+            -267.1641937951083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1359.4734434321415,
+            -2940.9877573978506,
+            -267.1641937951083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1356.4734434321415,
+            -2940.9877573978506,
+            -267.1641937951083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1353.4734434321415,
+            -2940.9877573978506,
+            -267.1641937951083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            1350.4734434321415,
+            -2940.9877573978506,
+            -267.1641937951083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            1347.4734434321415,
+            -2940.9877573978506,
+            -267.1641937951083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            1344.4734434321415,
+            -2940.9877573978506,
+            -267.1641937951083
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            1344.4734434321415,
+            -2940.9877573978506,
+            -270.1641937951083
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            1344.4734434321415,
+            -2940.9877573978506,
+            -273.1641937951083
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            1344.4734434321415,
+            -2940.9877573978506,
+            -276.1641937951083
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            1344.4734434321415,
+            -2940.9877573978506,
+            -279.1641937951083
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            1344.4734434321415,
+            -2940.9877573978506,
+            -282.1641937951083
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            1344.4734434321415,
+            -2940.9877573978506,
+            -285.1641937951083
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            1344.4734434321415,
+            -2940.9877573978506,
+            -288.1641937951083
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            1344.4734434321415,
+            -2940.9877573978506,
+            -291.1641937951083
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            1344.4734434321415,
+            -2940.9877573978506,
+            -294.1641937951083
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            1344.4734434321415,
+            -2940.9877573978506,
+            -294.1641937951083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            1341.8753672207881,
+            -2942.4877573978506,
+            -294.1641937951083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            1339.2772910094347,
+            -2943.9877573978506,
+            -294.1641937951083
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            1339.2772910094347,
+            -2943.9877573978506,
+            -297.1641937951083
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            1339.2772910094347,
+            -2943.9877573978506,
+            -300.1641937951083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            1336.6792147980814,
+            -2945.4877573978506,
+            -300.1641937951083
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1308.0,
+            -2948.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_26/astar_data/low_long/2025-01-18_23-52-39_491409/pose.jsonl

@@ -0,0 +1,1055 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1447.9876944485798,
+            -2961.5669888712073,
+            -306.0671815729752
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1445.3896182372264,
+            -2960.0669888712073,
+            -306.0671815729752
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1442.791542025873,
+            -2958.5669888712073,
+            -306.0671815729752
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1440.1934658145196,
+            -2957.0669888712073,
+            -306.0671815729752
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1437.5953896031663,
+            -2955.5669888712073,
+            -306.0671815729752
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1434.997313391813,
+            -2954.0669888712073,
+            -306.0671815729752
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1432.3992371804595,
+            -2952.5669888712073,
+            -306.0671815729752
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1429.8011609691061,
+            -2951.0669888712073,
+            -306.0671815729752
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1429.8011609691061,
+            -2951.0669888712073,
+            -303.0671815729752
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1429.8011609691061,
+            -2951.0669888712073,
+            -300.0671815729752
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1429.8011609691061,
+            -2951.0669888712073,
+            -297.0671815729752
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1429.8011609691061,
+            -2951.0669888712073,
+            -294.0671815729752
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1429.8011609691061,
+            -2951.0669888712073,
+            -291.0671815729752
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1429.8011609691061,
+            -2951.0669888712073,
+            -288.0671815729752
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1429.8011609691061,
+            -2951.0669888712073,
+            -285.0671815729752
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1429.8011609691061,
+            -2951.0669888712073,
+            -282.0671815729752
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1429.8011609691061,
+            -2951.0669888712073,
+            -279.0671815729752
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1429.8011609691061,
+            -2951.0669888712073,
+            -276.0671815729752
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1429.8011609691061,
+            -2951.0669888712073,
+            -273.0671815729752
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1429.8011609691061,
+            -2951.0669888712073,
+            -270.0671815729752
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1429.8011609691061,
+            -2951.0669888712073,
+            -267.0671815729752
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1427.2030847577528,
+            -2949.5669888712073,
+            -267.0671815729752
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1424.6050085463994,
+            -2948.0669888712073,
+            -267.0671815729752
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1422.006932335046,
+            -2946.5669888712073,
+            -267.0671815729752
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1419.4088561236927,
+            -2945.0669888712073,
+            -267.0671815729752
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1416.8107799123393,
+            -2943.5669888712073,
+            -267.0671815729752
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1414.212703700986,
+            -2942.0669888712073,
+            -267.0671815729752
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1411.6146274896325,
+            -2940.5669888712073,
+            -267.0671815729752
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1409.0165512782792,
+            -2939.0669888712073,
+            -267.0671815729752
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1406.4184750669258,
+            -2937.5669888712073,
+            -267.0671815729752
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1403.8203988555724,
+            -2936.0669888712073,
+            -267.0671815729752
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1401.222322644219,
+            -2934.5669888712073,
+            -267.0671815729752
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1398.6242464328657,
+            -2933.0669888712073,
+            -267.0671815729752
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1396.0261702215123,
+            -2931.5669888712073,
+            -267.0671815729752
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1393.428094010159,
+            -2930.0669888712073,
+            -267.0671815729752
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1390.8300177988056,
+            -2928.5669888712073,
+            -267.0671815729752
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1388.2319415874522,
+            -2927.0669888712073,
+            -267.0671815729752
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1385.6338653760988,
+            -2925.5669888712073,
+            -267.0671815729752
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1383.0357891647454,
+            -2924.0669888712073,
+            -267.0671815729752
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1380.437712953392,
+            -2922.5669888712073,
+            -267.0671815729752
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1377.8396367420387,
+            -2921.0669888712073,
+            -267.0671815729752
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1375.2415605306853,
+            -2919.5669888712073,
+            -267.0671815729752
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1372.643484319332,
+            -2918.0669888712073,
+            -267.0671815729752
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1370.0454081079786,
+            -2916.5669888712073,
+            -267.0671815729752
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1367.4473318966252,
+            -2915.0669888712073,
+            -267.0671815729752
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1364.8492556852718,
+            -2913.5669888712073,
+            -267.0671815729752
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1362.2511794739185,
+            -2912.0669888712073,
+            -267.0671815729752
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1359.653103262565,
+            -2910.5669888712073,
+            -267.0671815729752
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1357.0550270512117,
+            -2909.0669888712073,
+            -267.0671815729752
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1354.4569508398583,
+            -2907.5669888712073,
+            -267.0671815729752
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            1351.858874628505,
+            -2906.0669888712073,
+            -267.0671815729752
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            1349.2607984171516,
+            -2904.5669888712073,
+            -267.0671815729752
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            1346.6627222057982,
+            -2903.0669888712073,
+            -267.0671815729752
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            1344.0646459944448,
+            -2901.5669888712073,
+            -267.0671815729752
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            1341.4665697830915,
+            -2900.0669888712073,
+            -267.0671815729752
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            1338.868493571738,
+            -2898.5669888712073,
+            -267.0671815729752
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            1338.868493571738,
+            -2898.5669888712073,
+            -270.0671815729752
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            1338.868493571738,
+            -2898.5669888712073,
+            -273.0671815729752
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            1338.868493571738,
+            -2898.5669888712073,
+            -276.0671815729752
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            1338.868493571738,
+            -2898.5669888712073,
+            -279.0671815729752
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            1338.868493571738,
+            -2898.5669888712073,
+            -282.0671815729752
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            1338.868493571738,
+            -2898.5669888712073,
+            -282.0671815729752
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            1337.368493571738,
+            -2895.968912659854,
+            -282.0671815729752
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            1335.868493571738,
+            -2893.370836448501,
+            -282.0671815729752
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            1334.368493571738,
+            -2890.772760237148,
+            -282.0671815729752
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            1332.868493571738,
+            -2888.1746840257947,
+            -282.0671815729752
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            1331.368493571738,
+            -2885.5766078144416,
+            -282.0671815729752
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            1329.868493571738,
+            -2882.9785316030884,
+            -282.0671815729752
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            1328.368493571738,
+            -2880.3804553917353,
+            -282.0671815729752
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            1326.868493571738,
+            -2877.782379180382,
+            -282.0671815729752
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            1325.368493571738,
+            -2875.184302969029,
+            -282.0671815729752
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            1323.868493571738,
+            -2872.586226757676,
+            -282.0671815729752
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            1323.868493571738,
+            -2872.586226757676,
+            -285.0671815729752
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            1323.868493571738,
+            -2872.586226757676,
+            -288.0671815729752
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            1323.868493571738,
+            -2872.586226757676,
+            -291.0671815729752
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            1323.868493571738,
+            -2872.586226757676,
+            -294.0671815729752
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            1323.868493571738,
+            -2872.586226757676,
+            -297.0671815729752
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            1323.868493571738,
+            -2872.586226757676,
+            -300.0671815729752
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            1323.868493571738,
+            -2872.586226757676,
+            -303.0671815729752
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            1323.868493571738,
+            -2872.586226757676,
+            -306.0671815729752
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1304.0,
+            -2860.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_26/astar_data/low_long/2025-1-1_0-42-57_1371499336/pose.jsonl

@@ -0,0 +1,509 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            672.2601747140192,
+            -1863.0827823824045,
+            -295.326026023769
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            669.6620985026659,
+            -1864.5827823824045,
+            -295.326026023769
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            667.0640222913125,
+            -1866.0827823824045,
+            -295.326026023769
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            664.4659460799592,
+            -1867.5827823824045,
+            -295.326026023769
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            661.8678698686058,
+            -1869.0827823824045,
+            -295.326026023769
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            659.2697936572524,
+            -1870.5827823824045,
+            -295.326026023769
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            656.671717445899,
+            -1872.0827823824045,
+            -295.326026023769
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            654.0736412345457,
+            -1873.5827823824045,
+            -295.326026023769
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            651.4755650231923,
+            -1875.0827823824045,
+            -295.326026023769
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            648.8774888118389,
+            -1876.5827823824045,
+            -295.326026023769
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            646.2794126004856,
+            -1878.0827823824045,
+            -295.326026023769
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            643.6813363891322,
+            -1879.5827823824045,
+            -295.326026023769
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            641.0832601777788,
+            -1881.0827823824045,
+            -295.326026023769
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            638.4851839664254,
+            -1882.5827823824045,
+            -295.326026023769
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            635.8871077550721,
+            -1884.0827823824045,
+            -295.326026023769
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            633.2890315437187,
+            -1885.5827823824045,
+            -295.326026023769
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            630.6909553323653,
+            -1887.0827823824045,
+            -295.326026023769
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            628.092879121012,
+            -1888.5827823824045,
+            -295.326026023769
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            625.4948029096586,
+            -1890.0827823824045,
+            -295.326026023769
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            622.8967266983052,
+            -1891.5827823824045,
+            -295.326026023769
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            620.2986504869518,
+            -1893.0827823824045,
+            -295.326026023769
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            617.7005742755985,
+            -1894.5827823824045,
+            -295.326026023769
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            615.1024980642451,
+            -1896.0827823824045,
+            -295.326026023769
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            612.5044218528917,
+            -1897.5827823824045,
+            -295.326026023769
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            609.9063456415383,
+            -1899.0827823824045,
+            -295.326026023769
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            607.308269430185,
+            -1900.5827823824045,
+            -295.326026023769
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            604.7101932188316,
+            -1902.0827823824045,
+            -295.326026023769
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            602.1121170074782,
+            -1903.5827823824045,
+            -295.326026023769
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            599.5140407961248,
+            -1905.0827823824045,
+            -295.326026023769
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            599.5140407961248,
+            -1905.0827823824045,
+            -295.326026023769
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            596.5140407961248,
+            -1905.0827823824045,
+            -295.326026023769
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            593.5140407961248,
+            -1905.0827823824045,
+            -295.326026023769
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            590.5140407961248,
+            -1905.0827823824045,
+            -295.326026023769
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            587.5140407961248,
+            -1905.0827823824045,
+            -295.326026023769
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            584.5140407961248,
+            -1905.0827823824045,
+            -295.326026023769
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            581.5140407961248,
+            -1905.0827823824045,
+            -295.326026023769
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            578.5140407961248,
+            -1905.0827823824045,
+            -295.326026023769
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            575.5140407961248,
+            -1905.0827823824045,
+            -295.326026023769
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            524.0,
+            -1928.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_26/astar_data/low_long/2025-1-1_0-48-39_105575579/pose.jsonl

@@ -0,0 +1,145 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            439.30101205853504,
+            -2461.9203335932452,
+            -309.3802088864181
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            437.80101205853504,
+            -2464.5184098045984,
+            -309.3802088864181
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            436.30101205853504,
+            -2467.1164860159515,
+            -309.3802088864181
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            434.80101205853504,
+            -2469.7145622273047,
+            -309.3802088864181
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            434.80101205853504,
+            -2469.7145622273047,
+            -309.3802088864181
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.570796326794925
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            434.80101205853504,
+            -2472.7145622273047,
+            -309.3802088864181
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            434.80101205853504,
+            -2475.7145622273047,
+            -309.3802088864181
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            434.80101205853504,
+            -2478.7145622273047,
+            -309.3802088864181
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            434.80101205853504,
+            -2481.7145622273047,
+            -309.3802088864181
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            434.80101205853504,
+            -2484.7145622273047,
+            -309.3802088864181
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            400.0,
+            -2636.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_26/astar_data/low_long/2025-1-1_1-15-46_1795519125/pose.jsonl

@@ -0,0 +1,769 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -883.7157022943491,
+            -1966.616255533612,
+            -311.05845737887813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -880.7157022943491,
+            -1966.616255533612,
+            -311.05845737887813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -877.7157022943491,
+            -1966.616255533612,
+            -311.05845737887813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -874.7157022943491,
+            -1966.616255533612,
+            -311.05845737887813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -871.7157022943491,
+            -1966.616255533612,
+            -311.05845737887813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -868.7157022943491,
+            -1966.616255533612,
+            -311.05845737887813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -865.7157022943491,
+            -1966.616255533612,
+            -311.05845737887813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -862.7157022943491,
+            -1966.616255533612,
+            -311.05845737887813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -859.7157022943491,
+            -1966.616255533612,
+            -311.05845737887813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -856.7157022943491,
+            -1966.616255533612,
+            -311.05845737887813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -853.7157022943491,
+            -1966.616255533612,
+            -311.05845737887813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -850.7157022943491,
+            -1966.616255533612,
+            -311.05845737887813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -847.7157022943491,
+            -1966.616255533612,
+            -311.05845737887813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -844.7157022943491,
+            -1966.616255533612,
+            -311.05845737887813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -841.7157022943491,
+            -1966.616255533612,
+            -311.05845737887813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -838.7157022943491,
+            -1966.616255533612,
+            -311.05845737887813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -835.7157022943491,
+            -1966.616255533612,
+            -311.05845737887813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -832.7157022943491,
+            -1966.616255533612,
+            -311.05845737887813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -829.7157022943491,
+            -1966.616255533612,
+            -311.05845737887813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -826.7157022943491,
+            -1966.616255533612,
+            -311.05845737887813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -823.7157022943491,
+            -1966.616255533612,
+            -311.05845737887813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -820.7157022943491,
+            -1966.616255533612,
+            -311.05845737887813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -817.7157022943491,
+            -1966.616255533612,
+            -311.05845737887813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -814.7157022943491,
+            -1966.616255533612,
+            -311.05845737887813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -811.7157022943491,
+            -1966.616255533612,
+            -311.05845737887813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -808.7157022943491,
+            -1966.616255533612,
+            -311.05845737887813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -805.7157022943491,
+            -1966.616255533612,
+            -311.05845737887813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -802.7157022943491,
+            -1966.616255533612,
+            -311.05845737887813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -799.7157022943491,
+            -1966.616255533612,
+            -311.05845737887813
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -799.7157022943491,
+            -1966.616255533612,
+            -311.05845737887813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -797.1176260829957,
+            -1968.116255533612,
+            -311.05845737887813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -794.5195498716423,
+            -1969.616255533612,
+            -311.05845737887813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -791.9214736602889,
+            -1971.116255533612,
+            -311.05845737887813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -789.3233974489356,
+            -1972.616255533612,
+            -311.05845737887813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -786.7253212375822,
+            -1974.116255533612,
+            -311.05845737887813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -784.1272450262288,
+            -1975.616255533612,
+            -311.05845737887813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -781.5291688148754,
+            -1977.116255533612,
+            -311.05845737887813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -778.9310926035221,
+            -1978.616255533612,
+            -311.05845737887813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -776.3330163921687,
+            -1980.116255533612,
+            -311.05845737887813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -773.7349401808153,
+            -1981.616255533612,
+            -311.05845737887813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -771.136863969462,
+            -1983.116255533612,
+            -311.05845737887813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -768.5387877581086,
+            -1984.616255533612,
+            -311.05845737887813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -765.9407115467552,
+            -1986.116255533612,
+            -311.05845737887813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -763.3426353354018,
+            -1987.616255533612,
+            -311.05845737887813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -760.7445591240485,
+            -1989.116255533612,
+            -311.05845737887813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -758.1464829126951,
+            -1990.616255533612,
+            -311.05845737887813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -755.5484067013417,
+            -1992.116255533612,
+            -311.05845737887813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -752.9503304899883,
+            -1993.616255533612,
+            -311.05845737887813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -750.352254278635,
+            -1995.116255533612,
+            -311.05845737887813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -747.7541780672816,
+            -1996.616255533612,
+            -311.05845737887813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -745.1561018559282,
+            -1998.116255533612,
+            -311.05845737887813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -742.5580256445749,
+            -1999.616255533612,
+            -311.05845737887813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -739.9599494332215,
+            -2001.116255533612,
+            -311.05845737887813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -737.3618732218681,
+            -2002.616255533612,
+            -311.05845737887813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -734.7637970105147,
+            -2004.116255533612,
+            -311.05845737887813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -732.1657207991614,
+            -2005.616255533612,
+            -311.05845737887813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -729.567644587808,
+            -2007.116255533612,
+            -311.05845737887813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -726.9695683764546,
+            -2008.616255533612,
+            -311.05845737887813
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -712.0,
+            -2012.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_26/astar_data/low_long/2025-1-1_1-17-12_425245975/pose.jsonl

@@ -0,0 +1,652 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            84.45092082372611,
+            -1272.0865444109493,
+            -300.8177029520967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            87.45092082372611,
+            -1272.0865444109493,
+            -300.8177029520967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            90.45092082372611,
+            -1272.0865444109493,
+            -300.8177029520967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            93.45092082372611,
+            -1272.0865444109493,
+            -300.8177029520967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            96.45092082372611,
+            -1272.0865444109493,
+            -300.8177029520967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            99.45092082372611,
+            -1272.0865444109493,
+            -300.8177029520967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            102.45092082372611,
+            -1272.0865444109493,
+            -300.8177029520967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            105.45092082372611,
+            -1272.0865444109493,
+            -300.8177029520967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            108.45092082372611,
+            -1272.0865444109493,
+            -300.8177029520967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            111.45092082372611,
+            -1272.0865444109493,
+            -300.8177029520967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            114.45092082372611,
+            -1272.0865444109493,
+            -300.8177029520967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            117.45092082372611,
+            -1272.0865444109493,
+            -300.8177029520967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            120.45092082372611,
+            -1272.0865444109493,
+            -300.8177029520967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            123.45092082372611,
+            -1272.0865444109493,
+            -300.8177029520967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            126.45092082372611,
+            -1272.0865444109493,
+            -300.8177029520967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            129.4509208237261,
+            -1272.0865444109493,
+            -300.8177029520967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            132.4509208237261,
+            -1272.0865444109493,
+            -300.8177029520967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            135.4509208237261,
+            -1272.0865444109493,
+            -300.8177029520967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            138.4509208237261,
+            -1272.0865444109493,
+            -300.8177029520967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            141.4509208237261,
+            -1272.0865444109493,
+            -300.8177029520967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            144.4509208237261,
+            -1272.0865444109493,
+            -300.8177029520967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            147.4509208237261,
+            -1272.0865444109493,
+            -300.8177029520967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            150.4509208237261,
+            -1272.0865444109493,
+            -300.8177029520967
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            150.4509208237261,
+            -1272.0865444109493,
+            -300.8177029520967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            153.04899703507942,
+            -1273.5865444109493,
+            -300.8177029520967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            155.64707324643274,
+            -1275.0865444109493,
+            -300.8177029520967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            158.24514945778606,
+            -1276.5865444109493,
+            -300.8177029520967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            160.84322566913937,
+            -1278.0865444109493,
+            -300.8177029520967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            163.4413018804927,
+            -1279.5865444109493,
+            -300.8177029520967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            166.039378091846,
+            -1281.0865444109493,
+            -300.8177029520967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            168.63745430319932,
+            -1282.5865444109493,
+            -300.8177029520967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            171.23553051455264,
+            -1284.0865444109493,
+            -300.8177029520967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            173.83360672590595,
+            -1285.5865444109493,
+            -300.8177029520967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            176.43168293725927,
+            -1287.0865444109493,
+            -300.8177029520967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            179.02975914861258,
+            -1288.5865444109493,
+            -300.8177029520967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            181.6278353599659,
+            -1290.0865444109493,
+            -300.8177029520967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            184.22591157131922,
+            -1291.5865444109493,
+            -300.8177029520967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            186.82398778267253,
+            -1293.0865444109493,
+            -300.8177029520967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            189.42206399402585,
+            -1294.5865444109493,
+            -300.8177029520967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            192.02014020537916,
+            -1296.0865444109493,
+            -300.8177029520967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            194.61821641673248,
+            -1297.5865444109493,
+            -300.8177029520967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            197.2162926280858,
+            -1299.0865444109493,
+            -300.8177029520967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            199.8143688394391,
+            -1300.5865444109493,
+            -300.8177029520967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            202.41244505079243,
+            -1302.0865444109493,
+            -300.8177029520967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            205.01052126214574,
+            -1303.5865444109493,
+            -300.8177029520967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            207.60859747349906,
+            -1305.0865444109493,
+            -300.8177029520967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            210.20667368485238,
+            -1306.5865444109493,
+            -300.8177029520967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            212.8047498962057,
+            -1308.0865444109493,
+            -300.8177029520967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            215.402826107559,
+            -1309.5865444109493,
+            -300.8177029520967
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            240.0,
+            -1316.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}