Add files using upload-large-folder tool

Image/env_airsim_16/astar_data/low_long/2024-12-31_21-42-50_1474612399/pose.jsonl

@@ -0,0 +1,717 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -694.5524188771691,
+            -71.77958988401943,
+            25.26566077930301
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -697.1504950885223,
+            -73.27958988401943,
+            25.26566077930301
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -699.7485712998757,
+            -74.77958988401943,
+            25.26566077930301
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -702.3466475112291,
+            -76.27958988401943,
+            25.26566077930301
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -704.9447237225825,
+            -77.77958988401943,
+            25.26566077930301
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -707.5427999339358,
+            -79.27958988401943,
+            25.26566077930301
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -710.1408761452892,
+            -80.77958988401943,
+            25.26566077930301
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -712.7389523566426,
+            -82.27958988401943,
+            25.26566077930301
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -715.337028567996,
+            -83.77958988401943,
+            25.26566077930301
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -717.9351047793493,
+            -85.27958988401943,
+            25.26566077930301
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -717.9351047793493,
+            -85.27958988401943,
+            25.26566077930301
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -719.4351047793493,
+            -87.87766609537275,
+            25.26566077930301
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -720.9351047793493,
+            -90.47574230672606,
+            25.26566077930301
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -722.4351047793493,
+            -93.07381851807938,
+            25.26566077930301
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -723.9351047793493,
+            -95.6718947294327,
+            25.26566077930301
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -725.4351047793493,
+            -98.26997094078601,
+            25.26566077930301
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -726.9351047793493,
+            -100.86804715213933,
+            25.26566077930301
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -728.4351047793493,
+            -103.46612336349264,
+            25.26566077930301
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -729.9351047793493,
+            -106.06419957484596,
+            25.26566077930301
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -731.4351047793493,
+            -108.66227578619927,
+            25.26566077930301
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -732.9351047793493,
+            -111.26035199755259,
+            25.26566077930301
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -734.4351047793493,
+            -113.8584282089059,
+            25.26566077930301
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -735.9351047793493,
+            -116.45650442025922,
+            25.26566077930301
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -737.4351047793493,
+            -119.05458063161254,
+            25.26566077930301
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -738.9351047793493,
+            -121.65265684296585,
+            25.26566077930301
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -740.4351047793493,
+            -124.25073305431917,
+            25.26566077930301
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -741.9351047793493,
+            -126.84880926567249,
+            25.26566077930301
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -743.4351047793493,
+            -129.4468854770258,
+            25.26566077930301
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -744.9351047793493,
+            -132.04496168837912,
+            25.26566077930301
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -746.4351047793493,
+            -134.64303789973243,
+            25.26566077930301
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -746.4351047793493,
+            -134.64303789973243,
+            25.26566077930301
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -749.0331809907027,
+            -136.14303789973243,
+            25.26566077930301
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -751.6312572020561,
+            -137.64303789973243,
+            25.26566077930301
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -754.2293334134094,
+            -139.14303789973243,
+            25.26566077930301
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -756.8274096247628,
+            -140.64303789973243,
+            25.26566077930301
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -759.4254858361162,
+            -142.14303789973243,
+            25.26566077930301
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -762.0235620474696,
+            -143.64303789973243,
+            25.26566077930301
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -764.6216382588229,
+            -145.14303789973243,
+            25.26566077930301
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -767.2197144701763,
+            -146.64303789973243,
+            25.26566077930301
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -769.8177906815297,
+            -148.14303789973243,
+            25.26566077930301
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -772.4158668928831,
+            -149.64303789973243,
+            25.26566077930301
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -775.0139431042364,
+            -151.14303789973243,
+            25.26566077930301
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -777.6120193155898,
+            -152.64303789973243,
+            25.26566077930301
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -780.2100955269432,
+            -154.14303789973243,
+            25.26566077930301
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -782.8081717382966,
+            -155.64303789973243,
+            25.26566077930301
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -785.4062479496499,
+            -157.14303789973243,
+            25.26566077930301
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -788.0043241610033,
+            -158.64303789973243,
+            25.26566077930301
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -790.6024003723567,
+            -160.14303789973243,
+            25.26566077930301
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -793.20047658371,
+            -161.64303789973243,
+            25.26566077930301
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -795.7985527950634,
+            -163.14303789973243,
+            25.26566077930301
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -798.3966290064168,
+            -164.64303789973243,
+            25.26566077930301
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -800.9947052177702,
+            -166.14303789973243,
+            25.26566077930301
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -803.5927814291235,
+            -167.64303789973243,
+            25.26566077930301
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -806.1908576404769,
+            -169.14303789973243,
+            25.26566077930301
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -820.0,
+            -180.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_16/astar_data/low_long/2024-12-31_21-43-20_2053999932/pose.jsonl

@@ -0,0 +1,808 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1211.5732825065274,
+            1.5096343464613966,
+            17.709721984841643
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1210.0732825065274,
+            -1.0884418648919194,
+            17.709721984841643
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1208.5732825065274,
+            -3.6865180762452354,
+            17.709721984841643
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1207.0732825065274,
+            -6.284594287598551,
+            17.709721984841643
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1205.5732825065274,
+            -8.882670498951867,
+            17.709721984841643
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1204.0732825065274,
+            -11.480746710305183,
+            17.709721984841643
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1202.5732825065274,
+            -14.0788229216585,
+            17.709721984841643
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1201.0732825065274,
+            -16.676899133011815,
+            17.709721984841643
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1201.0732825065274,
+            -16.676899133011815,
+            17.709721984841643
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1198.475206295174,
+            -18.176899133011815,
+            17.709721984841643
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1195.8771300838207,
+            -19.676899133011815,
+            17.709721984841643
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1193.2790538724673,
+            -21.176899133011815,
+            17.709721984841643
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1190.680977661114,
+            -22.676899133011815,
+            17.709721984841643
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1188.0829014497606,
+            -24.176899133011815,
+            17.709721984841643
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1185.4848252384072,
+            -25.676899133011815,
+            17.709721984841643
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1182.8867490270538,
+            -27.176899133011815,
+            17.709721984841643
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1180.2886728157005,
+            -28.676899133011815,
+            17.709721984841643
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1177.690596604347,
+            -30.176899133011815,
+            17.709721984841643
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1175.0925203929937,
+            -31.676899133011815,
+            17.709721984841643
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1172.4944441816403,
+            -33.176899133011815,
+            17.709721984841643
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1169.896367970287,
+            -34.676899133011815,
+            17.709721984841643
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1167.2982917589336,
+            -36.176899133011815,
+            17.709721984841643
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1164.7002155475802,
+            -37.676899133011815,
+            17.709721984841643
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1162.1021393362269,
+            -39.176899133011815,
+            17.709721984841643
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1159.5040631248735,
+            -40.676899133011815,
+            17.709721984841643
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1156.90598691352,
+            -42.176899133011815,
+            17.709721984841643
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1154.3079107021667,
+            -43.676899133011815,
+            17.709721984841643
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1151.7098344908134,
+            -45.176899133011815,
+            17.709721984841643
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1149.11175827946,
+            -46.676899133011815,
+            17.709721984841643
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1146.5136820681066,
+            -48.176899133011815,
+            17.709721984841643
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1146.5136820681066,
+            -48.176899133011815,
+            17.709721984841643
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 9.43689570931383e-15
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1143.5136820681066,
+            -48.176899133011815,
+            17.709721984841643
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1140.5136820681066,
+            -48.176899133011815,
+            17.709721984841643
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1137.5136820681066,
+            -48.176899133011815,
+            17.709721984841643
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1134.5136820681066,
+            -48.176899133011815,
+            17.709721984841643
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1131.5136820681066,
+            -48.176899133011815,
+            17.709721984841643
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1128.5136820681066,
+            -48.176899133011815,
+            17.709721984841643
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1125.5136820681066,
+            -48.176899133011815,
+            17.709721984841643
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1122.5136820681066,
+            -48.176899133011815,
+            17.709721984841643
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1119.5136820681066,
+            -48.176899133011815,
+            17.709721984841643
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -1116.5136820681066,
+            -48.176899133011815,
+            17.709721984841643
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -1113.5136820681066,
+            -48.176899133011815,
+            17.709721984841643
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -1110.5136820681066,
+            -48.176899133011815,
+            17.709721984841643
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -1107.5136820681066,
+            -48.176899133011815,
+            17.709721984841643
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -1104.5136820681066,
+            -48.176899133011815,
+            17.709721984841643
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -1101.5136820681066,
+            -48.176899133011815,
+            17.709721984841643
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -1098.5136820681066,
+            -48.176899133011815,
+            17.709721984841643
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -1095.5136820681066,
+            -48.176899133011815,
+            17.709721984841643
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -1092.5136820681066,
+            -48.176899133011815,
+            17.709721984841643
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -1089.5136820681066,
+            -48.176899133011815,
+            17.709721984841643
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -1086.5136820681066,
+            -48.176899133011815,
+            17.709721984841643
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -1083.5136820681066,
+            -48.176899133011815,
+            17.709721984841643
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -1080.5136820681066,
+            -48.176899133011815,
+            17.709721984841643
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -1077.5136820681066,
+            -48.176899133011815,
+            17.709721984841643
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -1074.5136820681066,
+            -48.176899133011815,
+            17.709721984841643
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -1074.5136820681066,
+            -48.176899133011815,
+            17.709721984841643
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -1071.9156058567532,
+            -49.676899133011815,
+            17.709721984841643
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -1069.3175296453999,
+            -51.176899133011815,
+            17.709721984841643
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            -1066.7194534340465,
+            -52.676899133011815,
+            17.709721984841643
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            -1066.7194534340465,
+            -52.676899133011815,
+            17.709721984841643
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            -1065.2194534340465,
+            -55.27497534436513,
+            17.709721984841643
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1060.0,
+            -60.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_16/astar_data/low_long/2024-12-31_21-48-25_1956297539/pose.jsonl

@@ -0,0 +1,717 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -831.2242024287648,
+            -400.01861757078103,
+            16.70502373843813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -834.2242024287648,
+            -400.01861757078103,
+            16.70502373843813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -837.2242024287648,
+            -400.01861757078103,
+            16.70502373843813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -840.2242024287648,
+            -400.01861757078103,
+            16.70502373843813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -843.2242024287648,
+            -400.01861757078103,
+            16.70502373843813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -846.2242024287648,
+            -400.01861757078103,
+            16.70502373843813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -849.2242024287648,
+            -400.01861757078103,
+            16.70502373843813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -852.2242024287648,
+            -400.01861757078103,
+            16.70502373843813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -855.2242024287648,
+            -400.01861757078103,
+            16.70502373843813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -858.2242024287648,
+            -400.01861757078103,
+            16.70502373843813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -861.2242024287648,
+            -400.01861757078103,
+            16.70502373843813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -864.2242024287648,
+            -400.01861757078103,
+            16.70502373843813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -867.2242024287648,
+            -400.01861757078103,
+            16.70502373843813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -870.2242024287648,
+            -400.01861757078103,
+            16.70502373843813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -873.2242024287648,
+            -400.01861757078103,
+            16.70502373843813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -876.2242024287648,
+            -400.01861757078103,
+            16.70502373843813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -879.2242024287648,
+            -400.01861757078103,
+            16.70502373843813
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -879.2242024287648,
+            -400.01861757078103,
+            16.70502373843813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -881.8222786401182,
+            -398.51861757078103,
+            16.70502373843813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -884.4203548514715,
+            -397.01861757078103,
+            16.70502373843813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -887.0184310628249,
+            -395.51861757078103,
+            16.70502373843813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -889.6165072741783,
+            -394.01861757078103,
+            16.70502373843813
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -889.6165072741783,
+            -394.01861757078103,
+            16.70502373843813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -892.6165072741783,
+            -394.01861757078103,
+            16.70502373843813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -895.6165072741783,
+            -394.01861757078103,
+            16.70502373843813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -898.6165072741783,
+            -394.01861757078103,
+            16.70502373843813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -901.6165072741783,
+            -394.01861757078103,
+            16.70502373843813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -904.6165072741783,
+            -394.01861757078103,
+            16.70502373843813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -907.6165072741783,
+            -394.01861757078103,
+            16.70502373843813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -910.6165072741783,
+            -394.01861757078103,
+            16.70502373843813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -913.6165072741783,
+            -394.01861757078103,
+            16.70502373843813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -916.6165072741783,
+            -394.01861757078103,
+            16.70502373843813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -919.6165072741783,
+            -394.01861757078103,
+            16.70502373843813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -922.6165072741783,
+            -394.01861757078103,
+            16.70502373843813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -925.6165072741783,
+            -394.01861757078103,
+            16.70502373843813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -928.6165072741783,
+            -394.01861757078103,
+            16.70502373843813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -931.6165072741783,
+            -394.01861757078103,
+            16.70502373843813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -934.6165072741783,
+            -394.01861757078103,
+            16.70502373843813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -937.6165072741783,
+            -394.01861757078103,
+            16.70502373843813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -940.6165072741783,
+            -394.01861757078103,
+            16.70502373843813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -943.6165072741783,
+            -394.01861757078103,
+            16.70502373843813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -946.6165072741783,
+            -394.01861757078103,
+            16.70502373843813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -949.6165072741783,
+            -394.01861757078103,
+            16.70502373843813
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -949.6165072741783,
+            -394.01861757078103,
+            16.70502373843813
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -949.6165072741783,
+            -394.01861757078103,
+            16.70502373843813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -951.1165072741783,
+            -391.4205413594277,
+            16.70502373843813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -952.6165072741783,
+            -388.8224651480744,
+            16.70502373843813
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -952.6165072741783,
+            -388.8224651480744,
+            16.70502373843813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -955.2145834855316,
+            -387.3224651480744,
+            16.70502373843813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -957.812659696885,
+            -385.8224651480744,
+            16.70502373843813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -960.4107359082384,
+            -384.3224651480744,
+            16.70502373843813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -963.0088121195918,
+            -382.8224651480744,
+            16.70502373843813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -965.6068883309451,
+            -381.3224651480744,
+            16.70502373843813
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -968.2049645422985,
+            -379.8224651480744,
+            16.70502373843813
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1000.0,
+            -372.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_16/astar_data/low_long/2024-12-31_21-56-2_402724286/pose.jsonl

@@ -0,0 +1,704 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -676.1035482422024,
+            -275.9733579632934,
+            24.405109313151748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -678.7016244535557,
+            -274.4733579632934,
+            24.405109313151748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -681.2997006649091,
+            -272.9733579632934,
+            24.405109313151748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -683.8977768762625,
+            -271.4733579632934,
+            24.405109313151748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -686.4958530876158,
+            -269.9733579632934,
+            24.405109313151748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -689.0939292989692,
+            -268.4733579632934,
+            24.405109313151748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -691.6920055103226,
+            -266.9733579632934,
+            24.405109313151748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -694.290081721676,
+            -265.4733579632934,
+            24.405109313151748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -696.8881579330293,
+            -263.9733579632934,
+            24.405109313151748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -699.4862341443827,
+            -262.4733579632934,
+            24.405109313151748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -702.0843103557361,
+            -260.9733579632934,
+            24.405109313151748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -704.6823865670895,
+            -259.4733579632934,
+            24.405109313151748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -707.2804627784428,
+            -257.9733579632934,
+            24.405109313151748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -709.8785389897962,
+            -256.4733579632934,
+            24.405109313151748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -712.4766152011496,
+            -254.97335796329338,
+            24.405109313151748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -715.074691412503,
+            -253.47335796329338,
+            24.405109313151748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -717.6727676238563,
+            -251.97335796329338,
+            24.405109313151748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -720.2708438352097,
+            -250.47335796329338,
+            24.405109313151748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -722.8689200465631,
+            -248.97335796329338,
+            24.405109313151748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -725.4669962579164,
+            -247.47335796329338,
+            24.405109313151748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -728.0650724692698,
+            -245.97335796329338,
+            24.405109313151748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -730.6631486806232,
+            -244.47335796329338,
+            24.405109313151748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -733.2612248919766,
+            -242.97335796329338,
+            24.405109313151748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -735.8593011033299,
+            -241.47335796329338,
+            24.405109313151748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -738.4573773146833,
+            -239.97335796329338,
+            24.405109313151748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -741.0554535260367,
+            -238.47335796329338,
+            24.405109313151748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -743.65352973739,
+            -236.97335796329338,
+            24.405109313151748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -746.2516059487434,
+            -235.47335796329338,
+            24.405109313151748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -748.8496821600968,
+            -233.97335796329338,
+            24.405109313151748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -751.4477583714502,
+            -232.47335796329338,
+            24.405109313151748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -754.0458345828035,
+            -230.97335796329338,
+            24.405109313151748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -756.6439107941569,
+            -229.47335796329338,
+            24.405109313151748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -759.2419870055103,
+            -227.97335796329338,
+            24.405109313151748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -761.8400632168637,
+            -226.47335796329338,
+            24.405109313151748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -764.438139428217,
+            -224.97335796329338,
+            24.405109313151748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -767.0362156395704,
+            -223.47335796329338,
+            24.405109313151748
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -767.0362156395704,
+            -223.47335796329338,
+            24.405109313151748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -770.0362156395704,
+            -223.47335796329338,
+            24.405109313151748
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -770.0362156395704,
+            -223.47335796329338,
+            24.405109313151748
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -770.0362156395704,
+            -223.47335796329338,
+            24.405109313151748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -771.5362156395704,
+            -220.87528175194007,
+            24.405109313151748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -773.0362156395704,
+            -218.27720554058675,
+            24.405109313151748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -774.5362156395704,
+            -215.67912932923343,
+            24.405109313151748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -776.0362156395704,
+            -213.08105311788012,
+            24.405109313151748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -777.5362156395704,
+            -210.4829769065268,
+            24.405109313151748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -779.0362156395704,
+            -207.88490069517349,
+            24.405109313151748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -780.5362156395704,
+            -205.28682448382017,
+            24.405109313151748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -782.0362156395704,
+            -202.68874827246685,
+            24.405109313151748
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -782.0362156395704,
+            -202.68874827246685,
+            24.405109313151748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -784.6342918509238,
+            -201.18874827246685,
+            24.405109313151748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -787.2323680622771,
+            -199.68874827246685,
+            24.405109313151748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -789.8304442736305,
+            -198.18874827246685,
+            24.405109313151748
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -792.4285204849839,
+            -196.68874827246685,
+            24.405109313151748
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -820.0,
+            -180.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_16/astar_data/low_long/2024-12-31_22-4-4_791698927/pose.jsonl

@@ -0,0 +1,158 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            71.7676725423845,
+            -589.8961251099723,
+            23.02355338169974
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            74.7676725423845,
+            -589.8961251099723,
+            23.02355338169974
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            77.7676725423845,
+            -589.8961251099723,
+            23.02355338169974
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            80.7676725423845,
+            -589.8961251099723,
+            23.02355338169974
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            83.7676725423845,
+            -589.8961251099723,
+            23.02355338169974
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            83.7676725423845,
+            -589.8961251099723,
+            23.02355338169974
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            83.7676725423845,
+            -589.8961251099723,
+            23.02355338169974
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            85.2676725423845,
+            -592.4942013213256,
+            23.02355338169974
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            86.7676725423845,
+            -595.092277532679,
+            23.02355338169974
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            88.2676725423845,
+            -597.6903537440323,
+            23.02355338169974
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            89.7676725423845,
+            -600.2884299553857,
+            23.02355338169974
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            216.0,
+            -672.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_16/astar_data/low_long/2024-12-31_23-4-47_1034949299/pose.jsonl

@@ -0,0 +1,808 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1079.9703866289794,
+            -430.1889428510637,
+            23.823428917625783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1078.4703866289794,
+            -432.787019062417,
+            23.823428917625783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1076.9703866289794,
+            -435.38509527377033,
+            23.823428917625783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1075.4703866289794,
+            -437.98317148512365,
+            23.823428917625783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1073.9703866289794,
+            -440.58124769647696,
+            23.823428917625783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1072.4703866289794,
+            -443.1793239078303,
+            23.823428917625783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1070.9703866289794,
+            -445.7774001191836,
+            23.823428917625783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1069.4703866289794,
+            -448.3754763305369,
+            23.823428917625783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1067.9703866289794,
+            -450.97355254189023,
+            23.823428917625783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1066.4703866289794,
+            -453.57162875324354,
+            23.823428917625783
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1066.4703866289794,
+            -453.57162875324354,
+            23.823428917625783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1063.872310417626,
+            -455.07162875324354,
+            23.823428917625783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1061.2742342062727,
+            -456.57162875324354,
+            23.823428917625783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1058.6761579949193,
+            -458.07162875324354,
+            23.823428917625783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1056.078081783566,
+            -459.57162875324354,
+            23.823428917625783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1053.4800055722126,
+            -461.07162875324354,
+            23.823428917625783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1050.8819293608592,
+            -462.57162875324354,
+            23.823428917625783
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1050.8819293608592,
+            -462.57162875324354,
+            23.823428917625783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1049.3819293608592,
+            -465.16970496459686,
+            23.823428917625783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1047.8819293608592,
+            -467.7677811759502,
+            23.823428917625783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1046.3819293608592,
+            -470.3658573873035,
+            23.823428917625783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1044.8819293608592,
+            -472.9639335986568,
+            23.823428917625783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1043.3819293608592,
+            -475.5620098100101,
+            23.823428917625783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1041.8819293608592,
+            -478.16008602136344,
+            23.823428917625783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1040.3819293608592,
+            -480.75816223271676,
+            23.823428917625783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1038.8819293608592,
+            -483.3562384440701,
+            23.823428917625783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1037.3819293608592,
+            -485.9543146554234,
+            23.823428917625783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1035.8819293608592,
+            -488.5523908667767,
+            23.823428917625783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1034.3819293608592,
+            -491.15046707813,
+            23.823428917625783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1032.8819293608592,
+            -493.74854328948334,
+            23.823428917625783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1031.3819293608592,
+            -496.34661950083665,
+            23.823428917625783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1029.8819293608592,
+            -498.94469571218997,
+            23.823428917625783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1028.3819293608592,
+            -501.5427719235433,
+            23.823428917625783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1026.8819293608592,
+            -504.1408481348966,
+            23.823428917625783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1025.3819293608592,
+            -506.7389243462499,
+            23.823428917625783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1023.8819293608592,
+            -509.33700055760323,
+            23.823428917625783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1022.3819293608592,
+            -511.93507676895655,
+            23.823428917625783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1020.8819293608592,
+            -514.5331529803099,
+            23.823428917625783
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1020.8819293608592,
+            -514.5331529803099,
+            23.823428917625783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1018.2838531495058,
+            -516.0331529803099,
+            23.823428917625783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -1015.6857769381525,
+            -517.5331529803099,
+            23.823428917625783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -1013.0877007267991,
+            -519.0331529803099,
+            23.823428917625783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -1010.4896245154457,
+            -520.5331529803099,
+            23.823428917625783
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -1010.4896245154457,
+            -520.5331529803099,
+            23.823428917625783
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -1010.4896245154457,
+            -520.5331529803099,
+            23.823428917625783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.570796326794887
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -1010.4896245154457,
+            -523.5331529803099,
+            23.823428917625783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -1010.4896245154457,
+            -526.5331529803099,
+            23.823428917625783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -1010.4896245154457,
+            -529.5331529803099,
+            23.823428917625783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -1010.4896245154457,
+            -532.5331529803099,
+            23.823428917625783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -1010.4896245154457,
+            -535.5331529803099,
+            23.823428917625783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -1010.4896245154457,
+            -538.5331529803099,
+            23.823428917625783
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -1010.4896245154457,
+            -538.5331529803099,
+            23.823428917625783
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -1010.4896245154457,
+            -538.5331529803099,
+            23.823428917625783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982989
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -1007.8915483040923,
+            -540.0331529803099,
+            23.823428917625783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -1005.293472092739,
+            -541.5331529803099,
+            23.823428917625783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -1002.6953958813856,
+            -543.0331529803099,
+            23.823428917625783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -1000.0973196700322,
+            -544.5331529803099,
+            23.823428917625783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -997.4992434586788,
+            -546.0331529803099,
+            23.823428917625783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            -994.9011672473255,
+            -547.5331529803099,
+            23.823428917625783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            -992.3030910359721,
+            -549.0331529803099,
+            23.823428917625783
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            -989.7050148246187,
+            -550.5331529803099,
+            23.823428917625783
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -984.0,
+            -556.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_16/astar_data/low_long/2024-12-31_23-57-40_555996658/pose.jsonl

@@ -0,0 +1,730 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1274.6773883651501,
+            -47.68672359552522,
+            22.91077494504875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1273.1773883651501,
+            -50.28479980687854,
+            22.91077494504875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1271.6773883651501,
+            -52.882876018231855,
+            22.91077494504875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1270.1773883651501,
+            -55.48095222958517,
+            22.91077494504875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1268.6773883651501,
+            -58.07902844093849,
+            22.91077494504875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1267.1773883651501,
+            -60.6771046522918,
+            22.91077494504875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1265.6773883651501,
+            -63.27518086364512,
+            22.91077494504875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1264.1773883651501,
+            -65.87325707499843,
+            22.91077494504875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1262.6773883651501,
+            -68.47133328635175,
+            22.91077494504875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1261.1773883651501,
+            -71.06940949770507,
+            22.91077494504875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1259.6773883651501,
+            -73.66748570905838,
+            22.91077494504875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1258.1773883651501,
+            -76.2655619204117,
+            22.91077494504875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1256.6773883651501,
+            -78.86363813176501,
+            22.91077494504875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1255.1773883651501,
+            -81.46171434311833,
+            22.91077494504875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1253.6773883651501,
+            -84.05979055447165,
+            22.91077494504875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1252.1773883651501,
+            -86.65786676582496,
+            22.91077494504875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1250.6773883651501,
+            -89.25594297717828,
+            22.91077494504875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1249.1773883651501,
+            -91.8540191885316,
+            22.91077494504875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1247.6773883651501,
+            -94.45209539988491,
+            22.91077494504875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1246.1773883651501,
+            -97.05017161123823,
+            22.91077494504875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1244.6773883651501,
+            -99.64824782259154,
+            22.91077494504875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1243.1773883651501,
+            -102.24632403394486,
+            22.91077494504875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1241.6773883651501,
+            -104.84440024529817,
+            22.91077494504875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1240.1773883651501,
+            -107.44247645665149,
+            22.91077494504875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1238.6773883651501,
+            -110.0405526680048,
+            22.91077494504875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1237.1773883651501,
+            -112.63862887935812,
+            22.91077494504875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1235.6773883651501,
+            -115.23670509071144,
+            22.91077494504875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1234.1773883651501,
+            -117.83478130206475,
+            22.91077494504875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1232.6773883651501,
+            -120.43285751341807,
+            22.91077494504875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1231.1773883651501,
+            -123.03093372477139,
+            22.91077494504875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1229.6773883651501,
+            -125.6290099361247,
+            22.91077494504875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1228.1773883651501,
+            -128.22708614747802,
+            22.91077494504875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1226.6773883651501,
+            -130.82516235883134,
+            22.91077494504875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1225.1773883651501,
+            -133.42323857018465,
+            22.91077494504875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1223.6773883651501,
+            -136.02131478153797,
+            22.91077494504875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1222.1773883651501,
+            -138.61939099289128,
+            22.91077494504875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1220.6773883651501,
+            -141.2174672042446,
+            22.91077494504875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1219.1773883651501,
+            -143.81554341559792,
+            22.91077494504875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1217.6773883651501,
+            -146.41361962695123,
+            22.91077494504875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1216.1773883651501,
+            -149.01169583830455,
+            22.91077494504875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -1214.6773883651501,
+            -151.60977204965786,
+            22.91077494504875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -1213.1773883651501,
+            -154.20784826101118,
+            22.91077494504875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -1211.6773883651501,
+            -156.8059244723645,
+            22.91077494504875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -1210.1773883651501,
+            -159.4040006837178,
+            22.91077494504875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -1208.6773883651501,
+            -162.00207689507113,
+            22.91077494504875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -1207.1773883651501,
+            -164.60015310642444,
+            22.91077494504875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -1205.6773883651501,
+            -167.19822931777776,
+            22.91077494504875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -1204.1773883651501,
+            -169.79630552913108,
+            22.91077494504875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -1202.6773883651501,
+            -172.3943817404844,
+            22.91077494504875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -1201.1773883651501,
+            -174.9924579518377,
+            22.91077494504875
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -1201.1773883651501,
+            -174.9924579518377,
+            22.91077494504875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -1198.5793121537968,
+            -176.4924579518377,
+            22.91077494504875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -1195.9812359424434,
+            -177.9924579518377,
+            22.91077494504875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -1193.38315973109,
+            -179.4924579518377,
+            22.91077494504875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -1190.7850835197366,
+            -180.9924579518377,
+            22.91077494504875
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1184.0,
+            -192.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_16/astar_data/low_long/2024-12-31_23-58-47_155789224/pose.jsonl

@@ -0,0 +1,54 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            164.25319800308506,
+            -594.6300548034749,
+            22.27171894407638
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            162.75319800308506,
+            -597.2281310148283,
+            22.27171894407638
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            161.25319800308506,
+            -599.8262072261816,
+            22.27171894407638
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            108.0,
+            -756.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_16/astar_data/low_long/2024-12-31_23-6-15_392035568/pose.jsonl

@@ -0,0 +1,613 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -672.93104159067,
+            -82.76135563090644,
+            21.262372336762862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -674.43104159067,
+            -80.16327941955312,
+            21.262372336762862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -675.93104159067,
+            -77.5652032081998,
+            21.262372336762862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -677.43104159067,
+            -74.96712699684649,
+            21.262372336762862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -678.93104159067,
+            -72.36905078549317,
+            21.262372336762862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -680.43104159067,
+            -69.77097457413986,
+            21.262372336762862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -681.93104159067,
+            -67.17289836278654,
+            21.262372336762862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -683.43104159067,
+            -64.57482215143322,
+            21.262372336762862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -684.93104159067,
+            -61.97674594007991,
+            21.262372336762862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -686.43104159067,
+            -59.37866972872659,
+            21.262372336762862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -687.93104159067,
+            -56.780593517373276,
+            21.262372336762862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -689.43104159067,
+            -54.18251730601996,
+            21.262372336762862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -690.93104159067,
+            -51.584441094666644,
+            21.262372336762862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -692.43104159067,
+            -48.98636488331333,
+            21.262372336762862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -693.93104159067,
+            -46.38828867196001,
+            21.262372336762862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -695.43104159067,
+            -43.790212460606696,
+            21.262372336762862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -696.93104159067,
+            -41.19213624925338,
+            21.262372336762862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -698.43104159067,
+            -38.594060037900064,
+            21.262372336762862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -699.93104159067,
+            -35.99598382654675,
+            21.262372336762862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -701.43104159067,
+            -33.39790761519343,
+            21.262372336762862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -702.93104159067,
+            -30.799831403840116,
+            21.262372336762862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -704.43104159067,
+            -28.2017551924868,
+            21.262372336762862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -705.93104159067,
+            -25.603678981133484,
+            21.262372336762862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -707.43104159067,
+            -23.005602769780168,
+            21.262372336762862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -708.93104159067,
+            -20.407526558426852,
+            21.262372336762862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -710.43104159067,
+            -17.809450347073536,
+            21.262372336762862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -711.93104159067,
+            -15.21137413572022,
+            21.262372336762862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -713.43104159067,
+            -12.613297924366904,
+            21.262372336762862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -714.93104159067,
+            -10.015221713013588,
+            21.262372336762862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -716.43104159067,
+            -7.417145501660272,
+            21.262372336762862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -717.93104159067,
+            -4.819069290306956,
+            21.262372336762862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -719.43104159067,
+            -2.22099307895364,
+            21.262372336762862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -720.93104159067,
+            0.37708313239967595,
+            21.262372336762862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -722.43104159067,
+            2.975159343752992,
+            21.262372336762862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -723.93104159067,
+            5.573235555106308,
+            21.262372336762862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -725.43104159067,
+            8.171311766459624,
+            21.262372336762862
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -725.43104159067,
+            8.171311766459624,
+            21.262372336762862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -728.0291178020234,
+            9.671311766459624,
+            21.262372336762862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -730.6271940133768,
+            11.171311766459624,
+            21.262372336762862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -733.2252702247301,
+            12.671311766459624,
+            21.262372336762862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -735.8233464360835,
+            14.171311766459624,
+            21.262372336762862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -738.4214226474369,
+            15.671311766459624,
+            21.262372336762862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -741.0194988587903,
+            17.171311766459624,
+            21.262372336762862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -743.6175750701436,
+            18.671311766459624,
+            21.262372336762862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -746.215651281497,
+            20.171311766459624,
+            21.262372336762862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -748.8137274928504,
+            21.671311766459624,
+            21.262372336762862
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -764.0,
+            44.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_16/astar_data/low_long/2025-1-1_0-22-38_1857962504/pose.jsonl

@@ -0,0 +1,873 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -939.5129171019933,
+            -128.79587909044653,
+            25.119463076231394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -936.9148408906399,
+            -130.29587909044653,
+            25.119463076231394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -934.3167646792865,
+            -131.79587909044653,
+            25.119463076231394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -931.7186884679331,
+            -133.29587909044653,
+            25.119463076231394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -929.1206122565798,
+            -134.79587909044653,
+            25.119463076231394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -926.5225360452264,
+            -136.29587909044653,
+            25.119463076231394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -923.924459833873,
+            -137.79587909044653,
+            25.119463076231394
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -923.924459833873,
+            -137.79587909044653,
+            25.119463076231394
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -923.924459833873,
+            -137.79587909044653,
+            25.119463076231394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.570796326794887
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -923.924459833873,
+            -140.79587909044653,
+            25.119463076231394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -923.924459833873,
+            -143.79587909044653,
+            25.119463076231394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -923.924459833873,
+            -146.79587909044653,
+            25.119463076231394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -923.924459833873,
+            -149.79587909044653,
+            25.119463076231394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -923.924459833873,
+            -152.79587909044653,
+            25.119463076231394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -923.924459833873,
+            -155.79587909044653,
+            25.119463076231394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -923.924459833873,
+            -158.79587909044653,
+            25.119463076231394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -923.924459833873,
+            -161.79587909044653,
+            25.119463076231394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -923.924459833873,
+            -164.79587909044653,
+            25.119463076231394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -923.924459833873,
+            -167.79587909044653,
+            25.119463076231394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -923.924459833873,
+            -170.79587909044653,
+            25.119463076231394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -923.924459833873,
+            -173.79587909044653,
+            25.119463076231394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -923.924459833873,
+            -176.79587909044653,
+            25.119463076231394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -923.924459833873,
+            -179.79587909044653,
+            25.119463076231394
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -923.924459833873,
+            -179.79587909044653,
+            25.119463076231394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -922.424459833873,
+            -182.39395530179985,
+            25.119463076231394
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -922.424459833873,
+            -182.39395530179985,
+            25.119463076231394
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -922.424459833873,
+            -182.39395530179985,
+            25.119463076231394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.220446049250313e-16
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -919.424459833873,
+            -182.39395530179985,
+            25.119463076231394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -916.424459833873,
+            -182.39395530179985,
+            25.119463076231394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -913.424459833873,
+            -182.39395530179985,
+            25.119463076231394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -910.424459833873,
+            -182.39395530179985,
+            25.119463076231394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -907.424459833873,
+            -182.39395530179985,
+            25.119463076231394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -904.424459833873,
+            -182.39395530179985,
+            25.119463076231394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -901.424459833873,
+            -182.39395530179985,
+            25.119463076231394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -898.424459833873,
+            -182.39395530179985,
+            25.119463076231394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -895.424459833873,
+            -182.39395530179985,
+            25.119463076231394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -892.424459833873,
+            -182.39395530179985,
+            25.119463076231394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -889.424459833873,
+            -182.39395530179985,
+            25.119463076231394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -886.424459833873,
+            -182.39395530179985,
+            25.119463076231394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -883.424459833873,
+            -182.39395530179985,
+            25.119463076231394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -880.424459833873,
+            -182.39395530179985,
+            25.119463076231394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -877.424459833873,
+            -182.39395530179985,
+            25.119463076231394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -874.424459833873,
+            -182.39395530179985,
+            25.119463076231394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -871.424459833873,
+            -182.39395530179985,
+            25.119463076231394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -868.424459833873,
+            -182.39395530179985,
+            25.119463076231394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -865.424459833873,
+            -182.39395530179985,
+            25.119463076231394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -862.424459833873,
+            -182.39395530179985,
+            25.119463076231394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -859.424459833873,
+            -182.39395530179985,
+            25.119463076231394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -856.424459833873,
+            -182.39395530179985,
+            25.119463076231394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -853.424459833873,
+            -182.39395530179985,
+            25.119463076231394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -850.424459833873,
+            -182.39395530179985,
+            25.119463076231394
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -850.424459833873,
+            -182.39395530179985,
+            25.119463076231394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -847.8263836225196,
+            -183.89395530179985,
+            25.119463076231394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -845.2283074111663,
+            -185.39395530179985,
+            25.119463076231394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -842.6302311998129,
+            -186.89395530179985,
+            25.119463076231394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -840.0321549884595,
+            -188.39395530179985,
+            25.119463076231394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -837.4340787771062,
+            -189.89395530179985,
+            25.119463076231394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -834.8360025657528,
+            -191.39395530179985,
+            25.119463076231394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            -832.2379263543994,
+            -192.89395530179985,
+            25.119463076231394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            -829.639850143046,
+            -194.39395530179985,
+            25.119463076231394
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            -829.639850143046,
+            -194.39395530179985,
+            25.119463076231394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            -828.139850143046,
+            -196.99203151315317,
+            25.119463076231394
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            -828.139850143046,
+            -196.99203151315317,
+            25.119463076231394
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            -828.139850143046,
+            -196.99203151315317,
+            25.119463076231394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.220446049250313e-16
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            -825.139850143046,
+            -196.99203151315317,
+            25.119463076231394
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            -822.139850143046,
+            -196.99203151315317,
+            25.119463076231394
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -804.0,
+            -208.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_16/astar_data/low_long/2025-1-1_0-8-11_1197352298/pose.jsonl

@@ -0,0 +1,509 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1209.2337619968596,
+            -572.4186312728737,
+            23.72785046551153
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1207.7337619968596,
+            -569.8205550615203,
+            23.72785046551153
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1206.2337619968596,
+            -567.2224788501669,
+            23.72785046551153
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1204.7337619968596,
+            -564.6244026388135,
+            23.72785046551153
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1203.2337619968596,
+            -562.0263264274602,
+            23.72785046551153
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1201.7337619968596,
+            -559.4282502161068,
+            23.72785046551153
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1201.7337619968596,
+            -559.4282502161068,
+            23.72785046551153
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1201.7337619968596,
+            -556.4282502161068,
+            23.72785046551153
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1201.7337619968596,
+            -553.4282502161068,
+            23.72785046551153
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1201.7337619968596,
+            -550.4282502161068,
+            23.72785046551153
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1201.7337619968596,
+            -547.4282502161068,
+            23.72785046551153
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1201.7337619968596,
+            -544.4282502161068,
+            23.72785046551153
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1201.7337619968596,
+            -541.4282502161068,
+            23.72785046551153
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1201.7337619968596,
+            -538.4282502161068,
+            23.72785046551153
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1201.7337619968596,
+            -535.4282502161068,
+            23.72785046551153
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1201.7337619968596,
+            -532.4282502161068,
+            23.72785046551153
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1201.7337619968596,
+            -529.4282502161068,
+            23.72785046551153
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1201.7337619968596,
+            -526.4282502161068,
+            23.72785046551153
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1201.7337619968596,
+            -523.4282502161068,
+            23.72785046551153
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1201.7337619968596,
+            -520.4282502161068,
+            23.72785046551153
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1201.7337619968596,
+            -517.4282502161068,
+            23.72785046551153
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1201.7337619968596,
+            -514.4282502161068,
+            23.72785046551153
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1201.7337619968596,
+            -511.4282502161068,
+            23.72785046551153
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1201.7337619968596,
+            -508.4282502161068,
+            23.72785046551153
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1201.7337619968596,
+            -505.4282502161068,
+            23.72785046551153
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1201.7337619968596,
+            -505.4282502161068,
+            23.72785046551153
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1200.2337619968596,
+            -502.8301740047535,
+            23.72785046551153
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1198.7337619968596,
+            -500.23209779340016,
+            23.72785046551153
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1197.2337619968596,
+            -497.63402158204684,
+            23.72785046551153
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1195.7337619968596,
+            -495.0359453706935,
+            23.72785046551153
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1194.2337619968596,
+            -492.4378691593402,
+            23.72785046551153
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1192.7337619968596,
+            -489.8397929479869,
+            23.72785046551153
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1191.2337619968596,
+            -487.2417167366336,
+            23.72785046551153
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1189.7337619968596,
+            -484.64364052528026,
+            23.72785046551153
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1188.2337619968596,
+            -482.04556431392695,
+            23.72785046551153
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1186.7337619968596,
+            -479.44748810257363,
+            23.72785046551153
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1185.2337619968596,
+            -476.8494118912203,
+            23.72785046551153
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1183.7337619968596,
+            -474.251335679867,
+            23.72785046551153
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1164.0,
+            -404.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_16/astar_data/low_long/2025-1-1_1-29-34_2016764524/pose.jsonl

@@ -0,0 +1,769 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1143.7915479359542,
+            -172.06521259740072,
+            23.54671838183894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1141.1934717246008,
+            -170.56521259740072,
+            23.54671838183894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1138.5953955132475,
+            -169.06521259740072,
+            23.54671838183894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1135.997319301894,
+            -167.56521259740072,
+            23.54671838183894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1133.3992430905407,
+            -166.06521259740072,
+            23.54671838183894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1130.8011668791873,
+            -164.56521259740072,
+            23.54671838183894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1128.203090667834,
+            -163.06521259740072,
+            23.54671838183894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1125.6050144564806,
+            -161.56521259740072,
+            23.54671838183894
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1125.6050144564806,
+            -161.56521259740072,
+            23.54671838183894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1124.1050144564806,
+            -158.9671363860474,
+            23.54671838183894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1122.6050144564806,
+            -156.36906017469408,
+            23.54671838183894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1121.1050144564806,
+            -153.77098396334077,
+            23.54671838183894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1119.6050144564806,
+            -151.17290775198745,
+            23.54671838183894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1118.1050144564806,
+            -148.57483154063414,
+            23.54671838183894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1116.6050144564806,
+            -145.97675532928082,
+            23.54671838183894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1115.1050144564806,
+            -143.3786791179275,
+            23.54671838183894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1113.6050144564806,
+            -140.7806029065742,
+            23.54671838183894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1112.1050144564806,
+            -138.18252669522087,
+            23.54671838183894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1110.6050144564806,
+            -135.58445048386756,
+            23.54671838183894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1109.1050144564806,
+            -132.98637427251424,
+            23.54671838183894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1107.6050144564806,
+            -130.38829806116092,
+            23.54671838183894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1106.1050144564806,
+            -127.79022184980761,
+            23.54671838183894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1104.6050144564806,
+            -125.19214563845429,
+            23.54671838183894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1103.1050144564806,
+            -122.59406942710098,
+            23.54671838183894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1101.6050144564806,
+            -119.99599321574766,
+            23.54671838183894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1100.1050144564806,
+            -117.39791700439434,
+            23.54671838183894
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1100.1050144564806,
+            -117.39791700439434,
+            23.54671838183894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1097.5069382451272,
+            -115.89791700439434,
+            23.54671838183894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1094.9088620337739,
+            -114.39791700439434,
+            23.54671838183894
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1094.9088620337739,
+            -114.39791700439434,
+            23.54671838183894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -9.43689570931383e-15
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1091.9088620337739,
+            -114.39791700439434,
+            23.54671838183894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1088.9088620337739,
+            -114.39791700439434,
+            23.54671838183894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1085.9088620337739,
+            -114.39791700439434,
+            23.54671838183894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1082.9088620337739,
+            -114.39791700439434,
+            23.54671838183894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1079.9088620337739,
+            -114.39791700439434,
+            23.54671838183894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1076.9088620337739,
+            -114.39791700439434,
+            23.54671838183894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1073.9088620337739,
+            -114.39791700439434,
+            23.54671838183894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1070.9088620337739,
+            -114.39791700439434,
+            23.54671838183894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1067.9088620337739,
+            -114.39791700439434,
+            23.54671838183894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1064.9088620337739,
+            -114.39791700439434,
+            23.54671838183894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -1061.9088620337739,
+            -114.39791700439434,
+            23.54671838183894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -1058.9088620337739,
+            -114.39791700439434,
+            23.54671838183894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -1055.9088620337739,
+            -114.39791700439434,
+            23.54671838183894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -1052.9088620337739,
+            -114.39791700439434,
+            23.54671838183894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -1049.9088620337739,
+            -114.39791700439434,
+            23.54671838183894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -1046.9088620337739,
+            -114.39791700439434,
+            23.54671838183894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -1043.9088620337739,
+            -114.39791700439434,
+            23.54671838183894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -1040.9088620337739,
+            -114.39791700439434,
+            23.54671838183894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -1037.9088620337739,
+            -114.39791700439434,
+            23.54671838183894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -1034.9088620337739,
+            -114.39791700439434,
+            23.54671838183894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -1031.9088620337739,
+            -114.39791700439434,
+            23.54671838183894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -1028.9088620337739,
+            -114.39791700439434,
+            23.54671838183894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -1025.9088620337739,
+            -114.39791700439434,
+            23.54671838183894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -1022.9088620337739,
+            -114.39791700439434,
+            23.54671838183894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -1019.9088620337739,
+            -114.39791700439434,
+            23.54671838183894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -1016.9088620337739,
+            -114.39791700439434,
+            23.54671838183894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -1013.9088620337739,
+            -114.39791700439434,
+            23.54671838183894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -1010.9088620337739,
+            -114.39791700439434,
+            23.54671838183894
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -996.0,
+            -108.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_16/astar_data/low_long/2025-1-1_2-10-40_553160358/pose.jsonl

@@ -0,0 +1,522 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            400.5050352713961,
+            -140.32266968034844,
+            28.679975366908955
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            397.90695906004277,
+            -141.82266968034844,
+            28.679975366908955
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            395.30888284868945,
+            -143.32266968034844,
+            28.679975366908955
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            392.71080663733613,
+            -144.82266968034844,
+            28.679975366908955
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            390.1127304259828,
+            -146.32266968034844,
+            28.679975366908955
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            387.5146542146295,
+            -147.82266968034844,
+            28.679975366908955
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            384.9165780032762,
+            -149.32266968034844,
+            28.679975366908955
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            382.31850179192287,
+            -150.82266968034844,
+            28.679975366908955
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            379.72042558056955,
+            -152.32266968034844,
+            28.679975366908955
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            377.12234936921624,
+            -153.82266968034844,
+            28.679975366908955
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            374.5242731578629,
+            -155.32266968034844,
+            28.679975366908955
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            371.9261969465096,
+            -156.82266968034844,
+            28.679975366908955
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            369.3281207351563,
+            -158.32266968034844,
+            28.679975366908955
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            366.730044523803,
+            -159.82266968034844,
+            28.679975366908955
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            364.13196831244966,
+            -161.32266968034844,
+            28.679975366908955
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            361.53389210109634,
+            -162.82266968034844,
+            28.679975366908955
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            358.935815889743,
+            -164.32266968034844,
+            28.679975366908955
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            356.3377396783897,
+            -165.82266968034844,
+            28.679975366908955
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            353.7396634670364,
+            -167.32266968034844,
+            28.679975366908955
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            351.1415872556831,
+            -168.82266968034844,
+            28.679975366908955
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            348.54351104432976,
+            -170.32266968034844,
+            28.679975366908955
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            345.94543483297645,
+            -171.82266968034844,
+            28.679975366908955
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            343.34735862162313,
+            -173.32266968034844,
+            28.679975366908955
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            340.7492824102698,
+            -174.82266968034844,
+            28.679975366908955
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            338.1512061989165,
+            -176.32266968034844,
+            28.679975366908955
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            335.5531299875632,
+            -177.82266968034844,
+            28.679975366908955
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            332.95505377620987,
+            -179.32266968034844,
+            28.679975366908955
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            330.35697756485655,
+            -180.82266968034844,
+            28.679975366908955
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            327.75890135350323,
+            -182.32266968034844,
+            28.679975366908955
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            325.1608251421499,
+            -183.82266968034844,
+            28.679975366908955
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            322.5627489307966,
+            -185.32266968034844,
+            28.679975366908955
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            319.9646727194433,
+            -186.82266968034844,
+            28.679975366908955
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            317.36659650808997,
+            -188.32266968034844,
+            28.679975366908955
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            317.36659650808997,
+            -188.32266968034844,
+            28.679975366908955
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            315.86659650808997,
+            -190.92074589170176,
+            28.679975366908955
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            314.36659650808997,
+            -193.51882210305507,
+            28.679975366908955
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            312.86659650808997,
+            -196.1168983144084,
+            28.679975366908955
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            311.36659650808997,
+            -198.7149745257617,
+            28.679975366908955
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            309.86659650808997,
+            -201.31305073711502,
+            28.679975366908955
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            272.0,
+            -224.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_16/astar_data/low_long/2025-1-1_2-19-41_235745791/pose.jsonl

@@ -0,0 +1,795 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -837.4041726848916,
+            -141.31644160688268,
+            22.59627345899846
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -838.9041726848916,
+            -143.914517818236,
+            22.59627345899846
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -840.4041726848916,
+            -146.5125940295893,
+            22.59627345899846
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -840.4041726848916,
+            -146.5125940295893,
+            22.59627345899846
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -840.4041726848916,
+            -149.5125940295893,
+            22.59627345899846
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -840.4041726848916,
+            -152.5125940295893,
+            22.59627345899846
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -840.4041726848916,
+            -155.5125940295893,
+            22.59627345899846
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -840.4041726848916,
+            -158.5125940295893,
+            22.59627345899846
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -840.4041726848916,
+            -161.5125940295893,
+            22.59627345899846
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -840.4041726848916,
+            -164.5125940295893,
+            22.59627345899846
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -840.4041726848916,
+            -167.5125940295893,
+            22.59627345899846
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -840.4041726848916,
+            -170.5125940295893,
+            22.59627345899846
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -840.4041726848916,
+            -173.5125940295893,
+            22.59627345899846
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -840.4041726848916,
+            -173.5125940295893,
+            22.59627345899846
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -840.4041726848916,
+            -173.5125940295893,
+            22.59627345899846
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -843.002248896245,
+            -175.0125940295893,
+            22.59627345899846
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -845.6003251075983,
+            -176.5125940295893,
+            22.59627345899846
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -848.1984013189517,
+            -178.0125940295893,
+            22.59627345899846
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -850.7964775303051,
+            -179.5125940295893,
+            22.59627345899846
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -853.3945537416585,
+            -181.0125940295893,
+            22.59627345899846
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -855.9926299530118,
+            -182.5125940295893,
+            22.59627345899846
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -858.5907061643652,
+            -184.0125940295893,
+            22.59627345899846
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -858.5907061643652,
+            -184.0125940295893,
+            22.59627345899846
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -861.5907061643652,
+            -184.0125940295893,
+            22.59627345899846
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -864.5907061643652,
+            -184.0125940295893,
+            22.59627345899846
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -867.5907061643652,
+            -184.0125940295893,
+            22.59627345899846
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -870.5907061643652,
+            -184.0125940295893,
+            22.59627345899846
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -873.5907061643652,
+            -184.0125940295893,
+            22.59627345899846
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -876.5907061643652,
+            -184.0125940295893,
+            22.59627345899846
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -879.5907061643652,
+            -184.0125940295893,
+            22.59627345899846
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -882.5907061643652,
+            -184.0125940295893,
+            22.59627345899846
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -885.5907061643652,
+            -184.0125940295893,
+            22.59627345899846
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -888.5907061643652,
+            -184.0125940295893,
+            22.59627345899846
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -891.5907061643652,
+            -184.0125940295893,
+            22.59627345899846
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -894.5907061643652,
+            -184.0125940295893,
+            22.59627345899846
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -897.5907061643652,
+            -184.0125940295893,
+            22.59627345899846
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -900.5907061643652,
+            -184.0125940295893,
+            22.59627345899846
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -903.5907061643652,
+            -184.0125940295893,
+            22.59627345899846
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -906.5907061643652,
+            -184.0125940295893,
+            22.59627345899846
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -909.5907061643652,
+            -184.0125940295893,
+            22.59627345899846
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -912.5907061643652,
+            -184.0125940295893,
+            22.59627345899846
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -915.5907061643652,
+            -184.0125940295893,
+            22.59627345899846
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -918.5907061643652,
+            -184.0125940295893,
+            22.59627345899846
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -921.5907061643652,
+            -184.0125940295893,
+            22.59627345899846
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -924.5907061643652,
+            -184.0125940295893,
+            22.59627345899846
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -927.5907061643652,
+            -184.0125940295893,
+            22.59627345899846
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -930.5907061643652,
+            -184.0125940295893,
+            22.59627345899846
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -933.5907061643652,
+            -184.0125940295893,
+            22.59627345899846
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -936.5907061643652,
+            -184.0125940295893,
+            22.59627345899846
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -939.5907061643652,
+            -184.0125940295893,
+            22.59627345899846
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -942.5907061643652,
+            -184.0125940295893,
+            22.59627345899846
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -945.5907061643652,
+            -184.0125940295893,
+            22.59627345899846
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -948.5907061643652,
+            -184.0125940295893,
+            22.59627345899846
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -951.5907061643652,
+            -184.0125940295893,
+            22.59627345899846
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -954.5907061643652,
+            -184.0125940295893,
+            22.59627345899846
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -957.5907061643652,
+            -184.0125940295893,
+            22.59627345899846
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -960.5907061643652,
+            -184.0125940295893,
+            22.59627345899846
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -963.5907061643652,
+            -184.0125940295893,
+            22.59627345899846
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            -966.5907061643652,
+            -184.0125940295893,
+            22.59627345899846
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            -969.5907061643652,
+            -184.0125940295893,
+            22.59627345899846
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1000.0,
+            -192.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_16/astar_data/low_long/2025-1-1_2-4-37_1152645729/pose.jsonl

@@ -0,0 +1,808 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1002.2223483734859,
+            -358.26830541940836,
+            28.230313480225227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -999.2223483734859,
+            -358.26830541940836,
+            28.230313480225227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -996.2223483734859,
+            -358.26830541940836,
+            28.230313480225227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -993.2223483734859,
+            -358.26830541940836,
+            28.230313480225227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -990.2223483734859,
+            -358.26830541940836,
+            28.230313480225227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -987.2223483734859,
+            -358.26830541940836,
+            28.230313480225227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -984.2223483734859,
+            -358.26830541940836,
+            28.230313480225227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -981.2223483734859,
+            -358.26830541940836,
+            28.230313480225227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -978.2223483734859,
+            -358.26830541940836,
+            28.230313480225227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -975.2223483734859,
+            -358.26830541940836,
+            28.230313480225227
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -975.2223483734859,
+            -358.26830541940836,
+            28.230313480225227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -972.6242721621327,
+            -359.76830541940836,
+            28.230313480225227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -970.0261959507793,
+            -361.26830541940836,
+            28.230313480225227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -967.4281197394259,
+            -362.76830541940836,
+            28.230313480225227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -964.8300435280726,
+            -364.26830541940836,
+            28.230313480225227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -962.2319673167192,
+            -365.76830541940836,
+            28.230313480225227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -959.6338911053658,
+            -367.26830541940836,
+            28.230313480225227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -957.0358148940124,
+            -368.76830541940836,
+            28.230313480225227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -954.4377386826591,
+            -370.26830541940836,
+            28.230313480225227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -951.8396624713057,
+            -371.76830541940836,
+            28.230313480225227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -949.2415862599523,
+            -373.26830541940836,
+            28.230313480225227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -946.643510048599,
+            -374.76830541940836,
+            28.230313480225227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -944.0454338372456,
+            -376.26830541940836,
+            28.230313480225227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -941.4473576258922,
+            -377.76830541940836,
+            28.230313480225227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -938.8492814145388,
+            -379.26830541940836,
+            28.230313480225227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -936.2512052031855,
+            -380.76830541940836,
+            28.230313480225227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -933.6531289918321,
+            -382.26830541940836,
+            28.230313480225227
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -933.6531289918321,
+            -382.26830541940836,
+            28.230313480225227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -932.1531289918321,
+            -384.8663816307617,
+            28.230313480225227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -930.6531289918321,
+            -387.464457842115,
+            28.230313480225227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -929.1531289918321,
+            -390.0625340534683,
+            28.230313480225227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -927.6531289918321,
+            -392.6606102648216,
+            28.230313480225227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -926.1531289918321,
+            -395.25868647617494,
+            28.230313480225227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -924.6531289918321,
+            -397.85676268752826,
+            28.230313480225227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -923.1531289918321,
+            -400.4548388988816,
+            28.230313480225227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -921.6531289918321,
+            -403.0529151102349,
+            28.230313480225227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -920.1531289918321,
+            -405.6509913215882,
+            28.230313480225227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -918.6531289918321,
+            -408.2490675329415,
+            28.230313480225227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -917.1531289918321,
+            -410.84714374429484,
+            28.230313480225227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -915.6531289918321,
+            -413.44521995564816,
+            28.230313480225227
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -915.6531289918321,
+            -413.44521995564816,
+            28.230313480225227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -913.0550527804787,
+            -414.94521995564816,
+            28.230313480225227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -910.4569765691253,
+            -416.44521995564816,
+            28.230313480225227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -907.858900357772,
+            -417.94521995564816,
+            28.230313480225227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -905.2608241464186,
+            -419.44521995564816,
+            28.230313480225227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -902.6627479350652,
+            -420.94521995564816,
+            28.230313480225227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -900.0646717237119,
+            -422.44521995564816,
+            28.230313480225227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -897.4665955123585,
+            -423.94521995564816,
+            28.230313480225227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -894.8685193010051,
+            -425.44521995564816,
+            28.230313480225227
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -894.8685193010051,
+            -425.44521995564816,
+            28.230313480225227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -893.3685193010051,
+            -428.0432961670015,
+            28.230313480225227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -891.8685193010051,
+            -430.6413723783548,
+            28.230313480225227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -890.3685193010051,
+            -433.2394485897081,
+            28.230313480225227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -888.8685193010051,
+            -435.8375248010614,
+            28.230313480225227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -887.3685193010051,
+            -438.43560101241474,
+            28.230313480225227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -885.8685193010051,
+            -441.03367722376805,
+            28.230313480225227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -884.3685193010051,
+            -443.63175343512137,
+            28.230313480225227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -882.8685193010051,
+            -446.2298296464747,
+            28.230313480225227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            -881.3685193010051,
+            -448.827905857828,
+            28.230313480225227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            -879.8685193010051,
+            -451.4259820691813,
+            28.230313480225227
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            -878.3685193010051,
+            -454.02405828053463,
+            28.230313480225227
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -872.0,
+            -460.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_16/astar_data/low_long/2025-1-1_2-48-49_1066077375/pose.jsonl

@@ -0,0 +1,80 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            182.3434613067578,
+            -588.851461178066,
+            24.72487416160727
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            183.8434613067578,
+            -591.4495373894192,
+            24.72487416160727
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            185.3434613067578,
+            -594.0476136007726,
+            24.72487416160727
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            186.8434613067578,
+            -596.645689812126,
+            24.72487416160727
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            188.3434613067578,
+            -599.2437660234793,
+            24.72487416160727
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            264.0,
+            -728.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_16/astar_data/low_long/2025-1-1_3-27-39_34740865/pose.jsonl

@@ -0,0 +1,756 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -698.3397778076263,
+            -9.000560218751104,
+            25.061950109132084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -699.8397778076263,
+            -11.59863643010442,
+            25.061950109132084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -701.3397778076263,
+            -14.196712641457736,
+            25.061950109132084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -702.8397778076263,
+            -16.794788852811052,
+            25.061950109132084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -704.3397778076263,
+            -19.39286506416437,
+            25.061950109132084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -705.8397778076263,
+            -21.990941275517685,
+            25.061950109132084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -707.3397778076263,
+            -24.589017486871,
+            25.061950109132084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -708.8397778076263,
+            -27.187093698224317,
+            25.061950109132084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -710.3397778076263,
+            -29.785169909577633,
+            25.061950109132084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -711.8397778076263,
+            -32.38324612093095,
+            25.061950109132084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -713.3397778076263,
+            -34.981322332284265,
+            25.061950109132084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -714.8397778076263,
+            -37.57939854363758,
+            25.061950109132084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -716.3397778076263,
+            -40.1774747549909,
+            25.061950109132084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -717.8397778076263,
+            -42.77555096634421,
+            25.061950109132084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -719.3397778076263,
+            -45.37362717769753,
+            25.061950109132084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -720.8397778076263,
+            -47.971703389050845,
+            25.061950109132084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -722.3397778076263,
+            -50.56977960040416,
+            25.061950109132084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -723.8397778076263,
+            -53.16785581175748,
+            25.061950109132084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -725.3397778076263,
+            -55.76593202311079,
+            25.061950109132084
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -725.3397778076263,
+            -55.76593202311079,
+            25.061950109132084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -727.9378540189796,
+            -57.26593202311079,
+            25.061950109132084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -730.535930230333,
+            -58.76593202311079,
+            25.061950109132084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -733.1340064416863,
+            -60.26593202311079,
+            25.061950109132084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -735.7320826530397,
+            -61.76593202311079,
+            25.061950109132084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -738.3301588643931,
+            -63.26593202311079,
+            25.061950109132084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -740.9282350757464,
+            -64.76593202311079,
+            25.061950109132084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -743.5263112870998,
+            -66.26593202311079,
+            25.061950109132084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -746.1243874984532,
+            -67.76593202311079,
+            25.061950109132084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -748.7224637098066,
+            -69.26593202311079,
+            25.061950109132084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -751.3205399211599,
+            -70.76593202311079,
+            25.061950109132084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -753.9186161325133,
+            -72.26593202311079,
+            25.061950109132084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -756.5166923438667,
+            -73.76593202311079,
+            25.061950109132084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -759.11476855522,
+            -75.26593202311079,
+            25.061950109132084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -761.7128447665734,
+            -76.76593202311079,
+            25.061950109132084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -764.3109209779268,
+            -78.26593202311079,
+            25.061950109132084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -766.9089971892802,
+            -79.76593202311079,
+            25.061950109132084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -769.5070734006335,
+            -81.26593202311079,
+            25.061950109132084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -772.1051496119869,
+            -82.76593202311079,
+            25.061950109132084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -774.7032258233403,
+            -84.26593202311079,
+            25.061950109132084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -777.3013020346937,
+            -85.76593202311079,
+            25.061950109132084
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -777.3013020346937,
+            -85.76593202311079,
+            25.061950109132084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -778.8013020346937,
+            -88.36400823446411,
+            25.061950109132084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -780.3013020346937,
+            -90.96208444581742,
+            25.061950109132084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -781.8013020346937,
+            -93.56016065717074,
+            25.061950109132084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -783.3013020346937,
+            -96.15823686852406,
+            25.061950109132084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -784.8013020346937,
+            -98.75631307987737,
+            25.061950109132084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -786.3013020346937,
+            -101.35438929123069,
+            25.061950109132084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -787.8013020346937,
+            -103.952465502584,
+            25.061950109132084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -789.3013020346937,
+            -106.55054171393732,
+            25.061950109132084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -790.8013020346937,
+            -109.14861792529064,
+            25.061950109132084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -792.3013020346937,
+            -111.74669413664395,
+            25.061950109132084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -793.8013020346937,
+            -114.34477034799727,
+            25.061950109132084
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -793.8013020346937,
+            -114.34477034799727,
+            25.061950109132084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -796.399378246047,
+            -115.84477034799727,
+            25.061950109132084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -798.9974544574004,
+            -117.34477034799727,
+            25.061950109132084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -801.5955306687538,
+            -118.84477034799727,
+            25.061950109132084
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -804.1936068801072,
+            -120.34477034799727,
+            25.061950109132084
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -812.0,
+            -128.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_16/astar_data/low_long/2025-1-1_3-31-51_537322532/pose.jsonl

@@ -0,0 +1,548 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            104.84439534776917,
+            -566.3585220302947,
+            15.072345898158652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            102.24631913641585,
+            -567.8585220302947,
+            15.072345898158652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            99.64824292506253,
+            -569.3585220302947,
+            15.072345898158652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            97.05016671370922,
+            -570.8585220302947,
+            15.072345898158652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            94.4520905023559,
+            -572.3585220302947,
+            15.072345898158652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            91.85401429100258,
+            -573.8585220302947,
+            15.072345898158652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            89.25593807964927,
+            -575.3585220302947,
+            15.072345898158652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            86.65786186829595,
+            -576.8585220302947,
+            15.072345898158652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            84.05978565694264,
+            -578.3585220302947,
+            15.072345898158652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            81.46170944558932,
+            -579.8585220302947,
+            15.072345898158652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            78.863633234236,
+            -581.3585220302947,
+            15.072345898158652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            76.26555702288269,
+            -582.8585220302947,
+            15.072345898158652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            73.66748081152937,
+            -584.3585220302947,
+            15.072345898158652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            71.06940460017606,
+            -585.8585220302947,
+            15.072345898158652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            68.47132838882274,
+            -587.3585220302947,
+            15.072345898158652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            65.87325217746942,
+            -588.8585220302947,
+            15.072345898158652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            63.27517596611611,
+            -590.3585220302947,
+            15.072345898158652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            60.67709975476279,
+            -591.8585220302947,
+            15.072345898158652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            58.07902354340948,
+            -593.3585220302947,
+            15.072345898158652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            55.48094733205616,
+            -594.8585220302947,
+            15.072345898158652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            52.882871120702845,
+            -596.3585220302947,
+            15.072345898158652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            50.28479490934953,
+            -597.8585220302947,
+            15.072345898158652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            47.68671869799621,
+            -599.3585220302947,
+            15.072345898158652
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            47.68671869799621,
+            -599.3585220302947,
+            15.072345898158652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            44.68671869799621,
+            -599.3585220302947,
+            15.072345898158652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            41.68671869799621,
+            -599.3585220302947,
+            15.072345898158652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            38.68671869799621,
+            -599.3585220302947,
+            15.072345898158652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            35.68671869799621,
+            -599.3585220302947,
+            15.072345898158652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            32.68671869799621,
+            -599.3585220302947,
+            15.072345898158652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            29.686718697996213,
+            -599.3585220302947,
+            15.072345898158652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            26.686718697996213,
+            -599.3585220302947,
+            15.072345898158652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            23.686718697996213,
+            -599.3585220302947,
+            15.072345898158652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            20.686718697996213,
+            -599.3585220302947,
+            15.072345898158652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            17.686718697996213,
+            -599.3585220302947,
+            15.072345898158652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            14.686718697996213,
+            -599.3585220302947,
+            15.072345898158652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            11.686718697996213,
+            -599.3585220302947,
+            15.072345898158652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            8.686718697996213,
+            -599.3585220302947,
+            15.072345898158652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            5.686718697996213,
+            -599.3585220302947,
+            15.072345898158652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            2.6867186979962128,
+            -599.3585220302947,
+            15.072345898158652
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            2.6867186979962128,
+            -599.3585220302947,
+            15.072345898158652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            0.08864248664289676,
+            -600.8585220302947,
+            15.072345898158652
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -60.0,
+            -620.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_16/astar_data/low_long/2025-1-1_3-47-45_93189435/pose.jsonl

@@ -0,0 +1,678 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -729.6695419004805,
+            53.871707334146066,
+            18.01136786713091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -731.1695419004805,
+            51.27363112279275,
+            18.01136786713091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -732.6695419004805,
+            48.675554911439434,
+            18.01136786713091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -734.1695419004805,
+            46.07747870008612,
+            18.01136786713091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -735.6695419004805,
+            43.4794024887328,
+            18.01136786713091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -737.1695419004805,
+            40.881326277379486,
+            18.01136786713091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -738.6695419004805,
+            38.28325006602617,
+            18.01136786713091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -740.1695419004805,
+            35.685173854672854,
+            18.01136786713091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -741.6695419004805,
+            33.08709764331954,
+            18.01136786713091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -743.1695419004805,
+            30.489021431966222,
+            18.01136786713091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -744.6695419004805,
+            27.890945220612906,
+            18.01136786713091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -746.1695419004805,
+            25.29286900925959,
+            18.01136786713091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -747.6695419004805,
+            22.694792797906274,
+            18.01136786713091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -749.1695419004805,
+            20.096716586552958,
+            18.01136786713091
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -749.1695419004805,
+            20.096716586552958,
+            18.01136786713091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -751.7676181118338,
+            18.596716586552958,
+            18.01136786713091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -754.3656943231872,
+            17.096716586552958,
+            18.01136786713091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -756.9637705345406,
+            15.596716586552958,
+            18.01136786713091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -759.561846745894,
+            14.096716586552958,
+            18.01136786713091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -762.1599229572473,
+            12.596716586552958,
+            18.01136786713091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -764.7579991686007,
+            11.096716586552958,
+            18.01136786713091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -767.3560753799541,
+            9.596716586552958,
+            18.01136786713091
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -767.3560753799541,
+            9.596716586552958,
+            18.01136786713091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -770.3560753799541,
+            9.596716586552958,
+            18.01136786713091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -773.3560753799541,
+            9.596716586552958,
+            18.01136786713091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -776.3560753799541,
+            9.596716586552958,
+            18.01136786713091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -779.3560753799541,
+            9.596716586552958,
+            18.01136786713091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -782.3560753799541,
+            9.596716586552958,
+            18.01136786713091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -785.3560753799541,
+            9.596716586552958,
+            18.01136786713091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -788.3560753799541,
+            9.596716586552958,
+            18.01136786713091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -791.3560753799541,
+            9.596716586552958,
+            18.01136786713091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -794.3560753799541,
+            9.596716586552958,
+            18.01136786713091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -797.3560753799541,
+            9.596716586552958,
+            18.01136786713091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -800.3560753799541,
+            9.596716586552958,
+            18.01136786713091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -803.3560753799541,
+            9.596716586552958,
+            18.01136786713091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -806.3560753799541,
+            9.596716586552958,
+            18.01136786713091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -809.3560753799541,
+            9.596716586552958,
+            18.01136786713091
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -809.3560753799541,
+            9.596716586552958,
+            18.01136786713091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -811.9541515913074,
+            8.096716586552958,
+            18.01136786713091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -814.5522278026608,
+            6.596716586552958,
+            18.01136786713091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -817.1503040140142,
+            5.096716586552958,
+            18.01136786713091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -819.7483802253676,
+            3.596716586552958,
+            18.01136786713091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -822.3464564367209,
+            2.096716586552958,
+            18.01136786713091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -824.9445326480743,
+            0.5967165865529582,
+            18.01136786713091
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -824.9445326480743,
+            0.5967165865529582,
+            18.01136786713091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -826.4445326480743,
+            -2.001359624800358,
+            18.01136786713091
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -826.4445326480743,
+            -2.001359624800358,
+            18.01136786713091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -829.0426088594277,
+            -3.501359624800358,
+            18.01136786713091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -831.640685070781,
+            -5.001359624800358,
+            18.01136786713091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -834.2387612821344,
+            -6.501359624800358,
+            18.01136786713091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -836.8368374934878,
+            -8.001359624800358,
+            18.01136786713091
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -880.0,
+            -32.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_16/astar_data/low_long/2025-1-1_4-16-50_1105816539/pose.jsonl

@@ -0,0 +1,665 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            391.0457059625317,
+            -537.2453309764418,
+            23.29807393596756
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            388.0457059625317,
+            -537.2453309764418,
+            23.29807393596756
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            385.0457059625317,
+            -537.2453309764418,
+            23.29807393596756
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            382.0457059625317,
+            -537.2453309764418,
+            23.29807393596756
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            379.0457059625317,
+            -537.2453309764418,
+            23.29807393596756
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            376.0457059625317,
+            -537.2453309764418,
+            23.29807393596756
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            373.0457059625317,
+            -537.2453309764418,
+            23.29807393596756
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            370.0457059625317,
+            -537.2453309764418,
+            23.29807393596756
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            367.0457059625317,
+            -537.2453309764418,
+            23.29807393596756
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            364.0457059625317,
+            -537.2453309764418,
+            23.29807393596756
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            361.0457059625317,
+            -537.2453309764418,
+            23.29807393596756
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            358.0457059625317,
+            -537.2453309764418,
+            23.29807393596756
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            355.0457059625317,
+            -537.2453309764418,
+            23.29807393596756
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            352.0457059625317,
+            -537.2453309764418,
+            23.29807393596756
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            349.0457059625317,
+            -537.2453309764418,
+            23.29807393596756
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            346.0457059625317,
+            -537.2453309764418,
+            23.29807393596756
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            343.0457059625317,
+            -537.2453309764418,
+            23.29807393596756
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            340.0457059625317,
+            -537.2453309764418,
+            23.29807393596756
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            337.0457059625317,
+            -537.2453309764418,
+            23.29807393596756
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            334.0457059625317,
+            -537.2453309764418,
+            23.29807393596756
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            331.0457059625317,
+            -537.2453309764418,
+            23.29807393596756
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            328.0457059625317,
+            -537.2453309764418,
+            23.29807393596756
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            325.0457059625317,
+            -537.2453309764418,
+            23.29807393596756
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            322.0457059625317,
+            -537.2453309764418,
+            23.29807393596756
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            319.0457059625317,
+            -537.2453309764418,
+            23.29807393596756
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            316.0457059625317,
+            -537.2453309764418,
+            23.29807393596756
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            313.0457059625317,
+            -537.2453309764418,
+            23.29807393596756
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            310.0457059625317,
+            -537.2453309764418,
+            23.29807393596756
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            307.0457059625317,
+            -537.2453309764418,
+            23.29807393596756
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            304.0457059625317,
+            -537.2453309764418,
+            23.29807393596756
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            301.0457059625317,
+            -537.2453309764418,
+            23.29807393596756
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            298.0457059625317,
+            -537.2453309764418,
+            23.29807393596756
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            295.0457059625317,
+            -537.2453309764418,
+            23.29807393596756
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            295.0457059625317,
+            -537.2453309764418,
+            23.29807393596756
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            292.4476297511784,
+            -535.7453309764418,
+            23.29807393596756
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            289.8495535398251,
+            -534.2453309764418,
+            23.29807393596756
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            287.25147732847176,
+            -532.7453309764418,
+            23.29807393596756
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            287.25147732847176,
+            -532.7453309764418,
+            23.29807393596756
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            284.25147732847176,
+            -532.7453309764418,
+            23.29807393596756
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            281.25147732847176,
+            -532.7453309764418,
+            23.29807393596756
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            278.25147732847176,
+            -532.7453309764418,
+            23.29807393596756
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            275.25147732847176,
+            -532.7453309764418,
+            23.29807393596756
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            272.25147732847176,
+            -532.7453309764418,
+            23.29807393596756
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            269.25147732847176,
+            -532.7453309764418,
+            23.29807393596756
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            266.25147732847176,
+            -532.7453309764418,
+            23.29807393596756
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            263.25147732847176,
+            -532.7453309764418,
+            23.29807393596756
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            260.25147732847176,
+            -532.7453309764418,
+            23.29807393596756
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            257.25147732847176,
+            -532.7453309764418,
+            23.29807393596756
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            254.25147732847176,
+            -532.7453309764418,
+            23.29807393596756
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            251.25147732847176,
+            -532.7453309764418,
+            23.29807393596756
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            224.0,
+            -532.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}