Add files using upload-large-folder tool

Image/env_airsim_sh/astar_data/low_long_updown/2025-01-19_06-38-31_15572/pose.jsonl

@@ -0,0 +1,1191 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1040.2519248589062,
+            -208.77438888068585,
+            24.9409175171225,
+            -1.0471975511965979
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1040.2519248589062,
+            -208.77438888068585,
+            27.9409175171225,
+            -1.0471975511965979
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1040.2519248589062,
+            -208.77438888068585,
+            30.9409175171225,
+            -1.0471975511965979
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1040.2519248589062,
+            -208.77438888068585,
+            33.9409175171225,
+            -1.0471975511965979
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1040.2519248589062,
+            -208.77438888068585,
+            36.9409175171225,
+            -1.0471975511965979
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1040.2519248589062,
+            -208.77438888068585,
+            39.9409175171225,
+            -1.0471975511965979
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1040.2519248589062,
+            -208.77438888068585,
+            42.9409175171225,
+            -1.0471975511965979
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1040.2519248589062,
+            -208.77438888068585,
+            45.9409175171225,
+            -1.0471975511965979
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1040.2519248589062,
+            -208.77438888068585,
+            48.9409175171225,
+            -1.0471975511965979
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1040.2519248589062,
+            -208.77438888068585,
+            51.9409175171225,
+            -1.0471975511965979
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1040.2519248589062,
+            -208.77438888068585,
+            54.9409175171225,
+            -1.0471975511965979
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1040.2519248589062,
+            -208.77438888068585,
+            57.9409175171225,
+            -1.0471975511965979
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1040.2519248589062,
+            -208.77438888068585,
+            60.9409175171225,
+            -1.0471975511965979
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1040.2519248589062,
+            -208.77438888068585,
+            63.9409175171225,
+            -1.0471975511965979
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1040.2519248589062,
+            -208.77438888068585,
+            66.9409175171225,
+            -1.0471975511965979
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1040.2519248589062,
+            -208.77438888068585,
+            69.9409175171225,
+            -1.0471975511965979
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1040.2519248589062,
+            -208.77438888068585,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1038.7519248589062,
+            -211.37246509203916,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1038.7519248589062,
+            -211.37246509203916,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1036.1538486475529,
+            -212.87246509203916,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1033.5557724361995,
+            -214.37246509203916,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1033.5557724361995,
+            -214.37246509203916,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1032.0557724361995,
+            -216.97054130339248,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1030.5557724361995,
+            -219.5686175147458,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1029.0557724361995,
+            -222.1666937260991,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1027.5557724361995,
+            -224.76476993745243,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1026.0557724361995,
+            -227.36284614880574,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1024.5557724361995,
+            -229.96092236015906,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1023.0557724361995,
+            -232.55899857151238,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1021.5557724361995,
+            -235.1570747828657,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1020.0557724361995,
+            -237.755150994219,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1018.5557724361995,
+            -240.35322720557232,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1017.0557724361995,
+            -242.95130341692564,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1015.5557724361995,
+            -245.54937962827896,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1015.5557724361995,
+            -245.54937962827896,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1015.5557724361995,
+            -248.54937962827896,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1015.5557724361995,
+            -251.54937962827896,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1015.5557724361995,
+            -254.54937962827896,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1015.5557724361995,
+            -257.549379628279,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1015.5557724361995,
+            -260.549379628279,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -1015.5557724361995,
+            -263.549379628279,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -1015.5557724361995,
+            -266.549379628279,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -1015.5557724361995,
+            -269.549379628279,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -1015.5557724361995,
+            -272.549379628279,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -1015.5557724361995,
+            -275.549379628279,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -1015.5557724361995,
+            -278.549379628279,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -1015.5557724361995,
+            -281.549379628279,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -1015.5557724361995,
+            -284.549379628279,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -1015.5557724361995,
+            -287.549379628279,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -1015.5557724361995,
+            -290.549379628279,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -1015.5557724361995,
+            -293.549379628279,
+            72.9409175171225
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -1015.5557724361995,
+            -293.549379628279,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -1015.5557724361995,
+            -296.549379628279,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -1015.5557724361995,
+            -299.549379628279,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -1015.5557724361995,
+            -302.549379628279,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -1015.5557724361995,
+            -305.549379628279,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -1015.5557724361995,
+            -308.549379628279,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -1015.5557724361995,
+            -311.549379628279,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            -1015.5557724361995,
+            -314.549379628279,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            -1015.5557724361995,
+            -317.549379628279,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            -1015.5557724361995,
+            -320.549379628279,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            -1015.5557724361995,
+            -323.549379628279,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            -1015.5557724361995,
+            -326.549379628279,
+            75.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            -1015.5557724361995,
+            -326.549379628279,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            -1014.0557724361995,
+            -329.1474558396323,
+            75.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            -1014.0557724361995,
+            -329.1474558396323,
+            75.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            -1014.0557724361995,
+            -329.1474558396323,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            -1015.5557724361995,
+            -331.7455320509856,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            -1017.0557724361995,
+            -334.34360826233893,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            -1018.5557724361995,
+            -336.94168447369225,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            -1020.0557724361995,
+            -339.53976068504556,
+            75.9409175171225
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            -1020.0557724361995,
+            -339.53976068504556,
+            72.9409175171225
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            -1020.0557724361995,
+            -339.53976068504556,
+            69.9409175171225,
+            -2.0943951023931953
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            -1020.0557724361995,
+            -339.53976068504556,
+            66.9409175171225,
+            -2.0943951023931953
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            -1020.0557724361995,
+            -339.53976068504556,
+            63.9409175171225,
+            -2.0943951023931953
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            -1020.0557724361995,
+            -339.53976068504556,
+            60.9409175171225,
+            -2.0943951023931953
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            -1020.0557724361995,
+            -339.53976068504556,
+            57.9409175171225,
+            -2.0943951023931953
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            -1020.0557724361995,
+            -339.53976068504556,
+            54.9409175171225,
+            -2.0943951023931953
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            -1020.0557724361995,
+            -339.53976068504556,
+            51.9409175171225,
+            -2.0943951023931953
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            -1020.0557724361995,
+            -339.53976068504556,
+            48.9409175171225,
+            -2.0943951023931953
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            -1020.0557724361995,
+            -339.53976068504556,
+            45.9409175171225,
+            -2.0943951023931953
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 81,
+        "pos": [
+            -1020.0557724361995,
+            -339.53976068504556,
+            42.9409175171225,
+            -2.0943951023931953
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 82,
+        "pos": [
+            -1020.0557724361995,
+            -339.53976068504556,
+            39.9409175171225,
+            -2.0943951023931953
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 83,
+        "pos": [
+            -1020.0557724361995,
+            -339.53976068504556,
+            36.9409175171225,
+            -2.0943951023931953
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 84,
+        "pos": [
+            -1020.0557724361995,
+            -339.53976068504556,
+            33.9409175171225,
+            -2.0943951023931953
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 85,
+        "pos": [
+            -1020.0557724361995,
+            -339.53976068504556,
+            30.9409175171225,
+            -2.0943951023931953
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 86,
+        "pos": [
+            -1020.0557724361995,
+            -339.53976068504556,
+            27.9409175171225,
+            -2.0943951023931953
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 87,
+        "pos": [
+            -1020.0557724361995,
+            -339.53976068504556,
+            24.9409175171225,
+            -2.0943951023931953
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1020.0,
+            -360.0,
+            147.526
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_sh/astar_data/low_long_updown/2025-01-19_08-15-14_654993/pose.jsonl

@@ -0,0 +1,1257 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            295.96908260558075,
+            771.5855484311071,
+            24.9409175171225,
+            0.5235987755982988
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            295.96908260558075,
+            771.5855484311071,
+            27.9409175171225,
+            0.5235987755982988
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            295.96908260558075,
+            771.5855484311071,
+            30.9409175171225,
+            0.5235987755982988
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            295.96908260558075,
+            771.5855484311071,
+            33.9409175171225,
+            0.5235987755982988
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            295.96908260558075,
+            771.5855484311071,
+            36.9409175171225,
+            0.5235987755982988
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            295.96908260558075,
+            771.5855484311071,
+            39.9409175171225,
+            0.5235987755982988
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            295.96908260558075,
+            771.5855484311071,
+            42.9409175171225,
+            0.5235987755982988
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            295.96908260558075,
+            771.5855484311071,
+            45.9409175171225,
+            0.5235987755982988
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            295.96908260558075,
+            771.5855484311071,
+            48.9409175171225,
+            0.5235987755982988
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            295.96908260558075,
+            771.5855484311071,
+            51.9409175171225,
+            0.5235987755982988
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            295.96908260558075,
+            771.5855484311071,
+            54.9409175171225,
+            0.5235987755982988
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            295.96908260558075,
+            771.5855484311071,
+            57.9409175171225,
+            0.5235987755982988
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            295.96908260558075,
+            771.5855484311071,
+            60.9409175171225,
+            0.5235987755982988
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            295.96908260558075,
+            771.5855484311071,
+            63.9409175171225,
+            0.5235987755982988
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            295.96908260558075,
+            771.5855484311071,
+            66.9409175171225,
+            0.5235987755982988
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            295.96908260558075,
+            771.5855484311071,
+            69.9409175171225,
+            0.5235987755982988
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            295.96908260558075,
+            771.5855484311071,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            298.56715881693407,
+            773.0855484311071,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            301.1652350282874,
+            774.5855484311071,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            301.1652350282874,
+            774.5855484311071,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            302.6652350282874,
+            777.1836246424605,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            304.1652350282874,
+            779.7817008538138,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            305.6652350282874,
+            782.3797770651672,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            307.1652350282874,
+            784.9778532765206,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            308.6652350282874,
+            787.575929487874,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            310.1652350282874,
+            790.1740056992273,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            311.6652350282874,
+            792.7720819105807,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            313.1652350282874,
+            795.3701581219341,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            313.1652350282874,
+            795.3701581219341,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            313.1652350282874,
+            798.3701581219341,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            313.1652350282874,
+            801.3701581219341,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            313.1652350282874,
+            804.3701581219341,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            313.1652350282874,
+            807.3701581219341,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            313.1652350282874,
+            810.3701581219341,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            313.1652350282874,
+            813.3701581219341,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            313.1652350282874,
+            816.3701581219341,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            313.1652350282874,
+            819.3701581219341,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            313.1652350282874,
+            822.3701581219341,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            313.1652350282874,
+            825.3701581219341,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            313.1652350282874,
+            828.3701581219341,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            313.1652350282874,
+            831.3701581219341,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            313.1652350282874,
+            834.3701581219341,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            313.1652350282874,
+            837.3701581219341,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            313.1652350282874,
+            840.3701581219341,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            313.1652350282874,
+            843.3701581219341,
+            72.9409175171225
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            313.1652350282874,
+            843.3701581219341,
+            75.9409175171225
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            313.1652350282874,
+            843.3701581219341,
+            78.9409175171225
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            313.1652350282874,
+            843.3701581219341,
+            81.9409175171225
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            313.1652350282874,
+            843.3701581219341,
+            84.9409175171225
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            313.1652350282874,
+            843.3701581219341,
+            87.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            313.1652350282874,
+            846.3701581219341,
+            87.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            313.1652350282874,
+            846.3701581219341,
+            87.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            314.6652350282874,
+            848.9682343332875,
+            87.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            314.6652350282874,
+            848.9682343332875,
+            87.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            314.6652350282874,
+            851.9682343332875,
+            87.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            314.6652350282874,
+            854.9682343332875,
+            87.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            314.6652350282874,
+            857.9682343332875,
+            87.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            314.6652350282874,
+            860.9682343332875,
+            87.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            314.6652350282874,
+            863.9682343332875,
+            87.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            314.6652350282874,
+            866.9682343332875,
+            87.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            314.6652350282874,
+            869.9682343332875,
+            87.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            314.6652350282874,
+            872.9682343332875,
+            87.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            314.6652350282874,
+            875.9682343332875,
+            87.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            314.6652350282874,
+            878.9682343332875,
+            87.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            314.6652350282874,
+            881.9682343332875,
+            87.9409175171225
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            314.6652350282874,
+            881.9682343332875,
+            84.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            314.6652350282874,
+            881.9682343332875,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            316.1652350282874,
+            884.5663105446408,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            317.6652350282874,
+            887.1643867559942,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            319.1652350282874,
+            889.7624629673476,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            320.6652350282874,
+            892.360539178701,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            322.1652350282874,
+            894.9586153900543,
+            84.9409175171225
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            322.1652350282874,
+            894.9586153900543,
+            81.9409175171225
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            322.1652350282874,
+            894.9586153900543,
+            78.9409175171225
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            322.1652350282874,
+            894.9586153900543,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            323.6652350282874,
+            897.5566916014077,
+            75.9409175171225
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            323.6652350282874,
+            897.5566916014077,
+            72.9409175171225,
+            1.0471975511965976
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            323.6652350282874,
+            897.5566916014077,
+            69.9409175171225,
+            1.0471975511965976
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            323.6652350282874,
+            897.5566916014077,
+            66.9409175171225,
+            1.0471975511965976
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            323.6652350282874,
+            897.5566916014077,
+            63.9409175171225,
+            1.0471975511965976
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            323.6652350282874,
+            897.5566916014077,
+            60.9409175171225,
+            1.0471975511965976
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 81,
+        "pos": [
+            323.6652350282874,
+            897.5566916014077,
+            57.9409175171225,
+            1.0471975511965976
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 82,
+        "pos": [
+            323.6652350282874,
+            897.5566916014077,
+            54.9409175171225,
+            1.0471975511965976
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 83,
+        "pos": [
+            323.6652350282874,
+            897.5566916014077,
+            51.9409175171225,
+            1.0471975511965976
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 84,
+        "pos": [
+            323.6652350282874,
+            897.5566916014077,
+            48.9409175171225,
+            1.0471975511965976
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 85,
+        "pos": [
+            323.6652350282874,
+            897.5566916014077,
+            45.9409175171225,
+            1.0471975511965976
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 86,
+        "pos": [
+            323.6652350282874,
+            897.5566916014077,
+            42.9409175171225,
+            1.0471975511965976
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 87,
+        "pos": [
+            323.6652350282874,
+            897.5566916014077,
+            39.9409175171225,
+            1.0471975511965976
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 88,
+        "pos": [
+            323.6652350282874,
+            897.5566916014077,
+            36.9409175171225,
+            1.0471975511965976
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 89,
+        "pos": [
+            323.6652350282874,
+            897.5566916014077,
+            33.9409175171225,
+            1.0471975511965976
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 90,
+        "pos": [
+            323.6652350282874,
+            897.5566916014077,
+            30.9409175171225,
+            1.0471975511965976
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 91,
+        "pos": [
+            323.6652350282874,
+            897.5566916014077,
+            27.9409175171225,
+            1.0471975511965976
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 92,
+        "pos": [
+            323.6652350282874,
+            897.5566916014077,
+            24.9409175171225,
+            1.0471975511965976
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            332.0,
+            936.0,
+            212.714
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_sh/astar_data/low_long_updown/2025-1-14_10-54-7_2118421993/pose.jsonl

@@ -0,0 +1,1133 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -633.2598194969556,
+            -1230.6796898599935,
+            24.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -633.2598194969556,
+            -1230.6796898599935,
+            27.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -633.2598194969556,
+            -1230.6796898599935,
+            30.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -633.2598194969556,
+            -1230.6796898599935,
+            33.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -633.2598194969556,
+            -1230.6796898599935,
+            36.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -633.2598194969556,
+            -1230.6796898599935,
+            39.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -633.2598194969556,
+            -1230.6796898599935,
+            42.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -633.2598194969556,
+            -1230.6796898599935,
+            45.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -633.2598194969556,
+            -1230.6796898599935,
+            48.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -633.2598194969556,
+            -1230.6796898599935,
+            51.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -633.2598194969556,
+            -1230.6796898599935,
+            54.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -633.2598194969556,
+            -1230.6796898599935,
+            57.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -633.2598194969556,
+            -1230.6796898599935,
+            60.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -633.2598194969556,
+            -1230.6796898599935,
+            63.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -633.2598194969556,
+            -1230.6796898599935,
+            66.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -633.2598194969556,
+            -1230.6796898599935,
+            69.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -633.2598194969556,
+            -1230.6796898599935,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -630.2598194969556,
+            -1230.6796898599935,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -630.2598194969556,
+            -1230.6796898599935,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -630.2598194969556,
+            -1230.6796898599935,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -630.2598194969556,
+            -1230.6796898599935,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -630.2598194969556,
+            -1233.6796898599935,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -630.2598194969556,
+            -1236.6796898599935,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -630.2598194969556,
+            -1239.6796898599935,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -630.2598194969556,
+            -1242.6796898599935,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -630.2598194969556,
+            -1245.6796898599935,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -630.2598194969556,
+            -1248.6796898599935,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -630.2598194969556,
+            -1251.6796898599935,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -630.2598194969556,
+            -1254.6796898599935,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -630.2598194969556,
+            -1257.6796898599935,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -630.2598194969556,
+            -1260.6796898599935,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -630.2598194969556,
+            -1263.6796898599935,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -630.2598194969556,
+            -1266.6796898599935,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -630.2598194969556,
+            -1269.6796898599935,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -630.2598194969556,
+            -1272.6796898599935,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -630.2598194969556,
+            -1275.6796898599935,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -630.2598194969556,
+            -1278.6796898599935,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -630.2598194969556,
+            -1281.6796898599935,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -630.2598194969556,
+            -1284.6796898599935,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -630.2598194969556,
+            -1287.6796898599935,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -630.2598194969556,
+            -1290.6796898599935,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -630.2598194969556,
+            -1293.6796898599935,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -630.2598194969556,
+            -1296.6796898599935,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -630.2598194969556,
+            -1299.6796898599935,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -630.2598194969556,
+            -1302.6796898599935,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -630.2598194969556,
+            -1305.6796898599935,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -630.2598194969556,
+            -1308.6796898599935,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -630.2598194969556,
+            -1311.6796898599935,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -630.2598194969556,
+            -1314.6796898599935,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -630.2598194969556,
+            -1317.6796898599935,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -630.2598194969556,
+            -1317.6796898599935,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -631.7598194969556,
+            -1320.2777660713468,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -633.2598194969556,
+            -1322.8758422827002,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -634.7598194969556,
+            -1325.4739184940536,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -636.2598194969556,
+            -1328.071994705407,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -637.7598194969556,
+            -1330.6700709167603,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -639.2598194969556,
+            -1333.2681471281137,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -640.7598194969556,
+            -1335.866223339467,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            -642.2598194969556,
+            -1338.4642995508204,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            -643.7598194969556,
+            -1341.0623757621738,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            -645.2598194969556,
+            -1343.6604519735272,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            -646.7598194969556,
+            -1346.2585281848806,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            -648.2598194969556,
+            -1348.856604396234,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            -649.7598194969556,
+            -1351.4546806075873,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            -651.2598194969556,
+            -1354.0527568189407,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            -652.7598194969556,
+            -1356.650833030294,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            -654.2598194969556,
+            -1359.2489092416474,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            -655.7598194969556,
+            -1361.8469854530008,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            -657.2598194969556,
+            -1364.4450616643542,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            -658.7598194969556,
+            -1367.0431378757075,
+            72.9409175171225
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            -658.7598194969556,
+            -1367.0431378757075,
+            69.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            -658.7598194969556,
+            -1367.0431378757075,
+            66.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            -658.7598194969556,
+            -1367.0431378757075,
+            63.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            -658.7598194969556,
+            -1367.0431378757075,
+            60.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            -658.7598194969556,
+            -1367.0431378757075,
+            57.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            -658.7598194969556,
+            -1367.0431378757075,
+            54.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            -658.7598194969556,
+            -1367.0431378757075,
+            51.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            -658.7598194969556,
+            -1367.0431378757075,
+            48.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            -658.7598194969556,
+            -1367.0431378757075,
+            45.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            -658.7598194969556,
+            -1367.0431378757075,
+            42.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            -658.7598194969556,
+            -1367.0431378757075,
+            39.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 81,
+        "pos": [
+            -658.7598194969556,
+            -1367.0431378757075,
+            36.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 82,
+        "pos": [
+            -658.7598194969556,
+            -1367.0431378757075,
+            33.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 83,
+        "pos": [
+            -658.7598194969556,
+            -1367.0431378757075,
+            30.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 84,
+        "pos": [
+            -658.7598194969556,
+            -1367.0431378757075,
+            27.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 85,
+        "pos": [
+            -658.7598194969556,
+            -1367.0431378757075,
+            24.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -660.0,
+            -1384.0,
+            93.3293
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_sh/astar_data/low_long_updown/2025-1-14_12-2-12_12895151/pose.jsonl

@@ -0,0 +1,1081 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -876.2904612823097,
+            -681.3394482738977,
+            24.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -876.2904612823097,
+            -681.3394482738977,
+            27.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -876.2904612823097,
+            -681.3394482738977,
+            30.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -876.2904612823097,
+            -681.3394482738977,
+            33.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -876.2904612823097,
+            -681.3394482738977,
+            36.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -876.2904612823097,
+            -681.3394482738977,
+            39.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -876.2904612823097,
+            -681.3394482738977,
+            42.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -876.2904612823097,
+            -681.3394482738977,
+            45.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -876.2904612823097,
+            -681.3394482738977,
+            48.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -876.2904612823097,
+            -681.3394482738977,
+            51.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -876.2904612823097,
+            -681.3394482738977,
+            54.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -876.2904612823097,
+            -681.3394482738977,
+            57.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -876.2904612823097,
+            -681.3394482738977,
+            60.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -876.2904612823097,
+            -681.3394482738977,
+            63.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -876.2904612823097,
+            -681.3394482738977,
+            66.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -876.2904612823097,
+            -681.3394482738977,
+            69.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -876.2904612823097,
+            -681.3394482738977,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -878.8885374936631,
+            -682.8394482738977,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -881.4866137050165,
+            -684.3394482738977,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -884.0846899163698,
+            -685.8394482738977,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -886.6827661277232,
+            -687.3394482738977,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -889.2808423390766,
+            -688.8394482738977,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -891.87891855043,
+            -690.3394482738977,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -894.4769947617833,
+            -691.8394482738977,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -897.0750709731367,
+            -693.3394482738977,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -899.6731471844901,
+            -694.8394482738977,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -902.2712233958434,
+            -696.3394482738977,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -904.8692996071968,
+            -697.8394482738977,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -907.4673758185502,
+            -699.3394482738977,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -910.0654520299036,
+            -700.8394482738977,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -912.6635282412569,
+            -702.3394482738977,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -915.2616044526103,
+            -703.8394482738977,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -917.8596806639637,
+            -705.3394482738977,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -920.457756875317,
+            -706.8394482738977,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -923.0558330866704,
+            -708.3394482738977,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -925.6539092980238,
+            -709.8394482738977,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -928.2519855093772,
+            -711.3394482738977,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -930.8500617207305,
+            -712.8394482738977,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -933.4481379320839,
+            -714.3394482738977,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -933.4481379320839,
+            -714.3394482738977,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -936.4481379320839,
+            -714.3394482738977,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -939.4481379320839,
+            -714.3394482738977,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -942.4481379320839,
+            -714.3394482738977,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -945.4481379320839,
+            -714.3394482738977,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -948.4481379320839,
+            -714.3394482738977,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -951.4481379320839,
+            -714.3394482738977,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -954.4481379320839,
+            -714.3394482738977,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -957.4481379320839,
+            -714.3394482738977,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -960.4481379320839,
+            -714.3394482738977,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -963.4481379320839,
+            -714.3394482738977,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -966.4481379320839,
+            -714.3394482738977,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -969.4481379320839,
+            -714.3394482738977,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -972.4481379320839,
+            -714.3394482738977,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -975.4481379320839,
+            -714.3394482738977,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -978.4481379320839,
+            -714.3394482738977,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -981.4481379320839,
+            -714.3394482738977,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -984.4481379320839,
+            -714.3394482738977,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -987.4481379320839,
+            -714.3394482738977,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            -990.4481379320839,
+            -714.3394482738977,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            -993.4481379320839,
+            -714.3394482738977,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            -993.4481379320839,
+            -714.3394482738977,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            -996.0462141434373,
+            -712.8394482738977,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            -998.6442903547907,
+            -711.3394482738977,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            -1001.242366566144,
+            -709.8394482738977,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            -1003.8404427774974,
+            -708.3394482738977,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            -1006.4385189888508,
+            -706.8394482738977,
+            72.9409175171225
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            -1006.4385189888508,
+            -706.8394482738977,
+            69.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            -1006.4385189888508,
+            -706.8394482738977,
+            66.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            -1006.4385189888508,
+            -706.8394482738977,
+            63.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            -1006.4385189888508,
+            -706.8394482738977,
+            60.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            -1006.4385189888508,
+            -706.8394482738977,
+            57.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            -1006.4385189888508,
+            -706.8394482738977,
+            54.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            -1006.4385189888508,
+            -706.8394482738977,
+            51.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            -1006.4385189888508,
+            -706.8394482738977,
+            48.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            -1006.4385189888508,
+            -706.8394482738977,
+            45.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            -1006.4385189888508,
+            -706.8394482738977,
+            42.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            -1006.4385189888508,
+            -706.8394482738977,
+            39.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            -1006.4385189888508,
+            -706.8394482738977,
+            36.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            -1006.4385189888508,
+            -706.8394482738977,
+            33.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            -1006.4385189888508,
+            -706.8394482738977,
+            30.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            -1006.4385189888508,
+            -706.8394482738977,
+            27.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 81,
+        "pos": [
+            -1006.4385189888508,
+            -706.8394482738977,
+            24.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1036.0,
+            -712.0,
+            73.0439
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_sh/astar_data/low_long_updown/2025-1-14_15-45-22_1910300925/pose.jsonl

@@ -0,0 +1,1198 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1774.2074754154232,
+            -949.9665631709797,
+            24.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1774.2074754154232,
+            -949.9665631709797,
+            27.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1774.2074754154232,
+            -949.9665631709797,
+            30.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1774.2074754154232,
+            -949.9665631709797,
+            33.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1774.2074754154232,
+            -949.9665631709797,
+            36.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1774.2074754154232,
+            -949.9665631709797,
+            39.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1774.2074754154232,
+            -949.9665631709797,
+            42.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1774.2074754154232,
+            -949.9665631709797,
+            45.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1774.2074754154232,
+            -949.9665631709797,
+            48.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1774.2074754154232,
+            -949.9665631709797,
+            51.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1774.2074754154232,
+            -949.9665631709797,
+            54.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1774.2074754154232,
+            -949.9665631709797,
+            57.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1774.2074754154232,
+            -949.9665631709797,
+            60.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1774.2074754154232,
+            -949.9665631709797,
+            63.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1774.2074754154232,
+            -949.9665631709797,
+            66.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1774.2074754154232,
+            -949.9665631709797,
+            69.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1774.2074754154232,
+            -949.9665631709797,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1772.7074754154232,
+            -952.5646393823331,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1771.2074754154232,
+            -955.1627155936865,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1769.7074754154232,
+            -957.7607918050398,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1768.2074754154232,
+            -960.3588680163932,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1766.7074754154232,
+            -962.9569442277466,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1765.2074754154232,
+            -965.5550204391,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1763.7074754154232,
+            -968.1530966504533,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1762.2074754154232,
+            -970.7511728618067,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1760.7074754154232,
+            -973.3492490731601,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1759.2074754154232,
+            -975.9473252845135,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1757.7074754154232,
+            -978.5454014958668,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1756.2074754154232,
+            -981.1434777072202,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1754.7074754154232,
+            -983.7415539185736,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1753.2074754154232,
+            -986.339630129927,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1751.7074754154232,
+            -988.9377063412803,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1750.2074754154232,
+            -991.5357825526337,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1748.7074754154232,
+            -994.1338587639871,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1747.2074754154232,
+            -996.7319349753404,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1745.7074754154232,
+            -999.3300111866938,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1744.2074754154232,
+            -1001.9280873980472,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1742.7074754154232,
+            -1004.5261636094006,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1741.2074754154232,
+            -1007.1242398207539,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1739.7074754154232,
+            -1009.7223160321073,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -1738.2074754154232,
+            -1012.3203922434607,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -1736.7074754154232,
+            -1014.918468454814,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -1735.2074754154232,
+            -1017.5165446661674,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -1733.7074754154232,
+            -1020.1146208775208,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -1732.2074754154232,
+            -1022.7126970888742,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -1730.7074754154232,
+            -1025.3107733002275,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -1730.7074754154232,
+            -1025.3107733002275,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -1728.1093992040699,
+            -1026.8107733002275,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -1725.5113229927165,
+            -1028.3107733002275,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -1722.9132467813631,
+            -1029.8107733002275,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -1720.3151705700097,
+            -1031.3107733002275,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -1717.7170943586564,
+            -1032.8107733002275,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -1715.119018147303,
+            -1034.3107733002275,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -1712.5209419359496,
+            -1035.8107733002275,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -1709.9228657245962,
+            -1037.3107733002275,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -1707.3247895132429,
+            -1038.8107733002275,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -1704.7267133018895,
+            -1040.3107733002275,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -1702.1286370905361,
+            -1041.8107733002275,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            -1699.5305608791828,
+            -1043.3107733002275,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            -1696.9324846678294,
+            -1044.8107733002275,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            -1694.334408456476,
+            -1046.3107733002275,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            -1691.7363322451226,
+            -1047.8107733002275,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            -1689.1382560337693,
+            -1049.3107733002275,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            -1686.540179822416,
+            -1050.8107733002275,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            -1686.540179822416,
+            -1050.8107733002275,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            -1685.040179822416,
+            -1053.408849511581,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            -1683.540179822416,
+            -1056.0069257229343,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            -1682.040179822416,
+            -1058.6050019342877,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            -1680.540179822416,
+            -1061.203078145641,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            -1679.040179822416,
+            -1063.8011543569944,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            -1677.540179822416,
+            -1066.3992305683478,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            -1676.040179822416,
+            -1068.9973067797011,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            -1676.040179822416,
+            -1068.9973067797011,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            -1673.4421036110625,
+            -1070.4973067797011,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            -1670.8440273997091,
+            -1071.9973067797011,
+            72.9409175171225
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            -1670.8440273997091,
+            -1071.9973067797011,
+            69.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            -1670.8440273997091,
+            -1071.9973067797011,
+            66.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            -1670.8440273997091,
+            -1071.9973067797011,
+            63.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            -1670.8440273997091,
+            -1071.9973067797011,
+            60.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            -1670.8440273997091,
+            -1071.9973067797011,
+            57.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            -1670.8440273997091,
+            -1071.9973067797011,
+            54.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 81,
+        "pos": [
+            -1670.8440273997091,
+            -1071.9973067797011,
+            51.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 82,
+        "pos": [
+            -1670.8440273997091,
+            -1071.9973067797011,
+            48.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 83,
+        "pos": [
+            -1670.8440273997091,
+            -1071.9973067797011,
+            45.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 84,
+        "pos": [
+            -1670.8440273997091,
+            -1071.9973067797011,
+            42.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 85,
+        "pos": [
+            -1670.8440273997091,
+            -1071.9973067797011,
+            39.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 86,
+        "pos": [
+            -1670.8440273997091,
+            -1071.9973067797011,
+            36.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 87,
+        "pos": [
+            -1670.8440273997091,
+            -1071.9973067797011,
+            33.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 88,
+        "pos": [
+            -1670.8440273997091,
+            -1071.9973067797011,
+            30.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 89,
+        "pos": [
+            -1670.8440273997091,
+            -1071.9973067797011,
+            27.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 90,
+        "pos": [
+            -1670.8440273997091,
+            -1071.9973067797011,
+            24.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1660.0,
+            -1084.0,
+            83.1915
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_sh/astar_data/low_long_updown/2025-1-14_17-42-30_235202254/pose.jsonl

@@ -0,0 +1,1185 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1026.931120887572,
+            -342.7487387013133,
+            24.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1026.931120887572,
+            -342.7487387013133,
+            27.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1026.931120887572,
+            -342.7487387013133,
+            30.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1026.931120887572,
+            -342.7487387013133,
+            33.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1026.931120887572,
+            -342.7487387013133,
+            36.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1026.931120887572,
+            -342.7487387013133,
+            39.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1026.931120887572,
+            -342.7487387013133,
+            42.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1026.931120887572,
+            -342.7487387013133,
+            45.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1026.931120887572,
+            -342.7487387013133,
+            48.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1026.931120887572,
+            -342.7487387013133,
+            51.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1026.931120887572,
+            -342.7487387013133,
+            54.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1026.931120887572,
+            -342.7487387013133,
+            57.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1026.931120887572,
+            -342.7487387013133,
+            60.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1026.931120887572,
+            -342.7487387013133,
+            63.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1026.931120887572,
+            -342.7487387013133,
+            66.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1026.931120887572,
+            -342.7487387013133,
+            69.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1026.931120887572,
+            -342.7487387013133,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1029.931120887572,
+            -342.7487387013133,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1032.931120887572,
+            -342.7487387013133,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1035.931120887572,
+            -342.7487387013133,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1038.931120887572,
+            -342.7487387013133,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1041.931120887572,
+            -342.7487387013133,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1041.931120887572,
+            -342.7487387013133,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1041.931120887572,
+            -342.7487387013133,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1043.431120887572,
+            -340.15066248996,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1044.931120887572,
+            -337.55258627860667,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1046.431120887572,
+            -334.95451006725335,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1046.431120887572,
+            -334.95451006725335,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1046.431120887572,
+            -334.95451006725335,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.220446049250313e-16
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1049.431120887572,
+            -334.95451006725335,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1052.431120887572,
+            -334.95451006725335,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1055.431120887572,
+            -334.95451006725335,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1055.431120887572,
+            -334.95451006725335,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1058.0291970989254,
+            -333.45451006725335,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1058.0291970989254,
+            -333.45451006725335,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -9.43689570931383e-15
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1061.0291970989254,
+            -333.45451006725335,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1064.0291970989254,
+            -333.45451006725335,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1067.0291970989254,
+            -333.45451006725335,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1067.0291970989254,
+            -333.45451006725335,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1069.6272733102787,
+            -334.95451006725335,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1072.225349521632,
+            -336.45451006725335,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1074.8234257329855,
+            -337.95451006725335,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1077.4215019443388,
+            -339.45451006725335,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1080.0195781556922,
+            -340.95451006725335,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1082.6176543670456,
+            -342.45451006725335,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1085.215730578399,
+            -343.95451006725335,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1087.8138067897523,
+            -345.45451006725335,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1090.4118830011057,
+            -346.95451006725335,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1093.009959212459,
+            -348.45451006725335,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1095.6080354238125,
+            -349.95451006725335,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            1098.2061116351658,
+            -351.45451006725335,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            1100.8041878465192,
+            -352.95451006725335,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            1103.4022640578726,
+            -354.45451006725335,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            1106.000340269226,
+            -355.95451006725335,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            1108.5984164805793,
+            -357.45451006725335,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            1111.1964926919327,
+            -358.95451006725335,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            1113.794568903286,
+            -360.45451006725335,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            1116.3926451146394,
+            -361.95451006725335,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            1116.3926451146394,
+            -361.95451006725335,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            1117.8926451146394,
+            -364.55258627860667,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            1119.3926451146394,
+            -367.15066248996,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            1120.8926451146394,
+            -369.7487387013133,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            1122.3926451146394,
+            -372.3468149126666,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            1123.8926451146394,
+            -374.94489112401993,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            1125.3926451146394,
+            -377.54296733537325,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            1126.8926451146394,
+            -380.14104354672656,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            1128.3926451146394,
+            -382.7391197580799,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            1129.8926451146394,
+            -385.3371959694332,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            1131.3926451146394,
+            -387.9352721807865,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            1132.8926451146394,
+            -390.5333483921398,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            1134.3926451146394,
+            -393.13142460349314,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            1135.8926451146394,
+            -395.72950081484646,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            1137.3926451146394,
+            -398.3275770261998,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            1138.8926451146394,
+            -400.9256532375531,
+            72.9409175171225
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            1138.8926451146394,
+            -400.9256532375531,
+            69.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            1138.8926451146394,
+            -400.9256532375531,
+            66.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            1138.8926451146394,
+            -400.9256532375531,
+            63.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            1138.8926451146394,
+            -400.9256532375531,
+            60.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            1138.8926451146394,
+            -400.9256532375531,
+            57.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            1138.8926451146394,
+            -400.9256532375531,
+            54.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            1138.8926451146394,
+            -400.9256532375531,
+            51.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 81,
+        "pos": [
+            1138.8926451146394,
+            -400.9256532375531,
+            48.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 82,
+        "pos": [
+            1138.8926451146394,
+            -400.9256532375531,
+            45.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 83,
+        "pos": [
+            1138.8926451146394,
+            -400.9256532375531,
+            42.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 84,
+        "pos": [
+            1138.8926451146394,
+            -400.9256532375531,
+            39.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 85,
+        "pos": [
+            1138.8926451146394,
+            -400.9256532375531,
+            36.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 86,
+        "pos": [
+            1138.8926451146394,
+            -400.9256532375531,
+            33.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 87,
+        "pos": [
+            1138.8926451146394,
+            -400.9256532375531,
+            30.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 88,
+        "pos": [
+            1138.8926451146394,
+            -400.9256532375531,
+            27.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 89,
+        "pos": [
+            1138.8926451146394,
+            -400.9256532375531,
+            24.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1180.0,
+            -420.0,
+            100.118
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_sh/astar_data/low_long_updown/2025-1-14_17-47-14_873199181/pose.jsonl

@@ -0,0 +1,886 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1711.3116148198626,
+            603.1168969257832,
+            24.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1711.3116148198626,
+            603.1168969257832,
+            27.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1711.3116148198626,
+            603.1168969257832,
+            30.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1711.3116148198626,
+            603.1168969257832,
+            33.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1711.3116148198626,
+            603.1168969257832,
+            36.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1711.3116148198626,
+            603.1168969257832,
+            39.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1711.3116148198626,
+            603.1168969257832,
+            42.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1711.3116148198626,
+            603.1168969257832,
+            45.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1711.3116148198626,
+            603.1168969257832,
+            48.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1711.3116148198626,
+            603.1168969257832,
+            51.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1711.3116148198626,
+            603.1168969257832,
+            54.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1711.3116148198626,
+            603.1168969257832,
+            57.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1711.3116148198626,
+            603.1168969257832,
+            60.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1711.3116148198626,
+            603.1168969257832,
+            63.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1711.3116148198626,
+            603.1168969257832,
+            66.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1711.3116148198626,
+            603.1168969257832,
+            69.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1711.3116148198626,
+            603.1168969257832,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1714.3116148198626,
+            603.1168969257832,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1717.3116148198626,
+            603.1168969257832,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1720.3116148198626,
+            603.1168969257832,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1720.3116148198626,
+            603.1168969257832,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1722.909691031216,
+            601.6168969257832,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1725.5077672425693,
+            600.1168969257832,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1728.1058434539227,
+            598.6168969257832,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1730.703919665276,
+            597.1168969257832,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1733.3019958766295,
+            595.6168969257832,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1735.9000720879828,
+            594.1168969257832,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1738.4981482993362,
+            592.6168969257832,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1741.0962245106896,
+            591.1168969257832,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1743.694300722043,
+            589.6168969257832,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1746.2923769333963,
+            588.1168969257832,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1748.8904531447497,
+            586.6168969257832,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1751.488529356103,
+            585.1168969257832,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1754.0866055674564,
+            583.6168969257832,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1756.6846817788098,
+            582.1168969257832,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1759.2827579901632,
+            580.6168969257832,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1761.8808342015166,
+            579.1168969257832,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1764.47891041287,
+            577.6168969257832,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1767.0769866242233,
+            576.1168969257832,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1769.6750628355767,
+            574.6168969257832,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -1772.27313904693,
+            573.1168969257832,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -1774.8712152582834,
+            571.6168969257832,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -1777.4692914696368,
+            570.1168969257832,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -1780.0673676809902,
+            568.6168969257832,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -1782.6654438923435,
+            567.1168969257832,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -1785.263520103697,
+            565.6168969257832,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -1787.8615963150503,
+            564.1168969257832,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -1790.4596725264037,
+            562.6168969257832,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -1793.057748737757,
+            561.1168969257832,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -1795.6558249491104,
+            559.6168969257832,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -1798.2539011604638,
+            558.1168969257832,
+            72.9409175171225
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -1798.2539011604638,
+            558.1168969257832,
+            69.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -1798.2539011604638,
+            558.1168969257832,
+            66.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -1798.2539011604638,
+            558.1168969257832,
+            63.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -1798.2539011604638,
+            558.1168969257832,
+            60.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -1798.2539011604638,
+            558.1168969257832,
+            57.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -1798.2539011604638,
+            558.1168969257832,
+            54.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -1798.2539011604638,
+            558.1168969257832,
+            51.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            -1798.2539011604638,
+            558.1168969257832,
+            48.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            -1798.2539011604638,
+            558.1168969257832,
+            45.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            -1798.2539011604638,
+            558.1168969257832,
+            42.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            -1798.2539011604638,
+            558.1168969257832,
+            39.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            -1798.2539011604638,
+            558.1168969257832,
+            36.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            -1798.2539011604638,
+            558.1168969257832,
+            33.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            -1798.2539011604638,
+            558.1168969257832,
+            30.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            -1798.2539011604638,
+            558.1168969257832,
+            27.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            -1798.2539011604638,
+            558.1168969257832,
+            24.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1852.0,
+            532.0,
+            90.296
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_sh/astar_data/low_long_updown/2025-1-14_20-18-48_878273679/pose.jsonl

@@ -0,0 +1,1081 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -19.484673121552902,
+            234.05735871601706,
+            24.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -19.484673121552902,
+            234.05735871601706,
+            27.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -19.484673121552902,
+            234.05735871601706,
+            30.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -19.484673121552902,
+            234.05735871601706,
+            33.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -19.484673121552902,
+            234.05735871601706,
+            36.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -19.484673121552902,
+            234.05735871601706,
+            39.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -19.484673121552902,
+            234.05735871601706,
+            42.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -19.484673121552902,
+            234.05735871601706,
+            45.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -19.484673121552902,
+            234.05735871601706,
+            48.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -19.484673121552902,
+            234.05735871601706,
+            51.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -19.484673121552902,
+            234.05735871601706,
+            54.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -19.484673121552902,
+            234.05735871601706,
+            57.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -19.484673121552902,
+            234.05735871601706,
+            60.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -19.484673121552902,
+            234.05735871601706,
+            63.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -19.484673121552902,
+            234.05735871601706,
+            66.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -19.484673121552902,
+            234.05735871601706,
+            69.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -19.484673121552902,
+            234.05735871601706,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -20.984673121552902,
+            231.45928250466375,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -22.484673121552902,
+            228.86120629331043,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -23.984673121552902,
+            226.26313008195712,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -25.484673121552902,
+            223.6650538706038,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -26.984673121552902,
+            221.06697765925048,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -28.484673121552902,
+            218.46890144789717,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -29.984673121552902,
+            215.87082523654385,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -31.484673121552902,
+            213.27274902519054,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -32.9846731215529,
+            210.67467281383722,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -34.4846731215529,
+            208.0765966024839,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -35.9846731215529,
+            205.4785203911306,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -37.4846731215529,
+            202.88044417977727,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -37.4846731215529,
+            202.88044417977727,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -37.4846731215529,
+            199.88044417977727,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -37.4846731215529,
+            199.88044417977727,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -37.4846731215529,
+            199.88044417977727,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -40.08274933290622,
+            198.38044417977727,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -42.680825544259534,
+            196.88044417977727,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -45.27890175561285,
+            195.38044417977727,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -47.876977966966166,
+            193.88044417977727,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -50.47505417831948,
+            192.38044417977727,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -53.0731303896728,
+            190.88044417977727,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -55.671206601026114,
+            189.38044417977727,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -58.26928281237943,
+            187.88044417977727,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -60.867359023732746,
+            186.38044417977727,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -63.46543523508606,
+            184.88044417977727,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -66.06351144643938,
+            183.38044417977727,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -68.6615876577927,
+            181.88044417977727,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -71.25966386914601,
+            180.38044417977727,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -73.85774008049933,
+            178.88044417977727,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -76.45581629185264,
+            177.38044417977727,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -79.05389250320596,
+            175.88044417977727,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -81.65196871455927,
+            174.38044417977727,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -84.25004492591259,
+            172.88044417977727,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -86.8481211372659,
+            171.38044417977727,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -89.44619734861922,
+            169.88044417977727,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -92.04427355997254,
+            168.38044417977727,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -94.64234977132585,
+            166.88044417977727,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -97.24042598267917,
+            165.38044417977727,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -99.83850219403249,
+            163.88044417977727,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -99.83850219403249,
+            163.88044417977727,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            -101.33850219403249,
+            161.28236796842396,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            -102.83850219403249,
+            158.68429175707064,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            -104.33850219403249,
+            156.08621554571732,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            -105.83850219403249,
+            153.488139334364,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            -107.33850219403249,
+            150.8900631230107,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            -108.83850219403249,
+            148.29198691165738,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            -110.33850219403249,
+            145.69391070030406,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            -111.83850219403249,
+            143.09583448895074,
+            72.9409175171225
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            -111.83850219403249,
+            143.09583448895074,
+            69.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            -111.83850219403249,
+            143.09583448895074,
+            66.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            -111.83850219403249,
+            143.09583448895074,
+            63.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            -111.83850219403249,
+            143.09583448895074,
+            60.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            -111.83850219403249,
+            143.09583448895074,
+            57.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            -111.83850219403249,
+            143.09583448895074,
+            54.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            -111.83850219403249,
+            143.09583448895074,
+            51.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            -111.83850219403249,
+            143.09583448895074,
+            48.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            -111.83850219403249,
+            143.09583448895074,
+            45.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            -111.83850219403249,
+            143.09583448895074,
+            42.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            -111.83850219403249,
+            143.09583448895074,
+            39.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            -111.83850219403249,
+            143.09583448895074,
+            36.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            -111.83850219403249,
+            143.09583448895074,
+            33.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            -111.83850219403249,
+            143.09583448895074,
+            30.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            -111.83850219403249,
+            143.09583448895074,
+            27.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 81,
+        "pos": [
+            -111.83850219403249,
+            143.09583448895074,
+            24.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -136.0,
+            116.0,
+            204.047
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_sh/astar_data/low_long_updown/2025-1-14_21-18-46_2053232475/pose.jsonl

@@ -0,0 +1,1016 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1483.4013477907486,
+            76.93064358755043,
+            24.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1483.4013477907486,
+            76.93064358755043,
+            27.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1483.4013477907486,
+            76.93064358755043,
+            30.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1483.4013477907486,
+            76.93064358755043,
+            33.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1483.4013477907486,
+            76.93064358755043,
+            36.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1483.4013477907486,
+            76.93064358755043,
+            39.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1483.4013477907486,
+            76.93064358755043,
+            42.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1483.4013477907486,
+            76.93064358755043,
+            45.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1483.4013477907486,
+            76.93064358755043,
+            48.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1483.4013477907486,
+            76.93064358755043,
+            51.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1483.4013477907486,
+            76.93064358755043,
+            54.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1483.4013477907486,
+            76.93064358755043,
+            57.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1483.4013477907486,
+            76.93064358755043,
+            60.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1483.4013477907486,
+            76.93064358755043,
+            63.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1483.4013477907486,
+            76.93064358755043,
+            66.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1483.4013477907486,
+            76.93064358755043,
+            69.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1483.4013477907486,
+            76.93064358755043,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1480.4013477907486,
+            76.93064358755043,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1477.4013477907486,
+            76.93064358755043,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1474.4013477907486,
+            76.93064358755043,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1471.4013477907486,
+            76.93064358755043,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1468.4013477907486,
+            76.93064358755043,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1465.4013477907486,
+            76.93064358755043,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1462.4013477907486,
+            76.93064358755043,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1459.4013477907486,
+            76.93064358755043,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1456.4013477907486,
+            76.93064358755043,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1453.4013477907486,
+            76.93064358755043,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1450.4013477907486,
+            76.93064358755043,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1447.4013477907486,
+            76.93064358755043,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1444.4013477907486,
+            76.93064358755043,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1441.4013477907486,
+            76.93064358755043,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1438.4013477907486,
+            76.93064358755043,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1435.4013477907486,
+            76.93064358755043,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1435.4013477907486,
+            76.93064358755043,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1432.8032715793952,
+            75.43064358755043,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1430.2051953680418,
+            73.93064358755043,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1427.6071191566884,
+            72.43064358755043,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1425.009042945335,
+            70.93064358755043,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1422.4109667339817,
+            69.43064358755043,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1419.8128905226283,
+            67.93064358755043,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -1417.214814311275,
+            66.43064358755043,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -1414.6167380999216,
+            64.93064358755043,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -1412.0186618885682,
+            63.430643587550435,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -1409.4205856772148,
+            61.930643587550435,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -1406.8225094658615,
+            60.430643587550435,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -1404.224433254508,
+            58.930643587550435,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -1401.6263570431547,
+            57.430643587550435,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -1399.0282808318013,
+            55.930643587550435,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -1396.430204620448,
+            54.430643587550435,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -1396.430204620448,
+            54.430643587550435,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 9.43689570931383e-15
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -1393.430204620448,
+            54.430643587550435,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -1390.430204620448,
+            54.430643587550435,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -1387.430204620448,
+            54.430643587550435,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -1384.430204620448,
+            54.430643587550435,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -1381.430204620448,
+            54.430643587550435,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -1378.430204620448,
+            54.430643587550435,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -1375.430204620448,
+            54.430643587550435,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -1372.430204620448,
+            54.430643587550435,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            -1369.430204620448,
+            54.430643587550435,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            -1366.430204620448,
+            54.430643587550435,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            -1363.430204620448,
+            54.430643587550435,
+            72.9409175171225
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            -1363.430204620448,
+            54.430643587550435,
+            69.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            -1363.430204620448,
+            54.430643587550435,
+            66.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            -1363.430204620448,
+            54.430643587550435,
+            63.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            -1363.430204620448,
+            54.430643587550435,
+            60.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            -1363.430204620448,
+            54.430643587550435,
+            57.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            -1363.430204620448,
+            54.430643587550435,
+            54.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            -1363.430204620448,
+            54.430643587550435,
+            51.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            -1363.430204620448,
+            54.430643587550435,
+            48.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            -1363.430204620448,
+            54.430643587550435,
+            45.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            -1363.430204620448,
+            54.430643587550435,
+            42.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            -1363.430204620448,
+            54.430643587550435,
+            39.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            -1363.430204620448,
+            54.430643587550435,
+            36.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            -1363.430204620448,
+            54.430643587550435,
+            33.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            -1363.430204620448,
+            54.430643587550435,
+            30.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            -1363.430204620448,
+            54.430643587550435,
+            27.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            -1363.430204620448,
+            54.430643587550435,
+            24.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1328.0,
+            48.0,
+            85.9591
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_sh/astar_data/low_long_updown/2025-1-14_21-34-4_1450238957/pose.jsonl

@@ -0,0 +1,1003 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -430.5738813571543,
+            149.99664196707235,
+            24.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -430.5738813571543,
+            149.99664196707235,
+            27.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -430.5738813571543,
+            149.99664196707235,
+            30.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -430.5738813571543,
+            149.99664196707235,
+            33.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -430.5738813571543,
+            149.99664196707235,
+            36.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -430.5738813571543,
+            149.99664196707235,
+            39.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -430.5738813571543,
+            149.99664196707235,
+            42.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -430.5738813571543,
+            149.99664196707235,
+            45.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -430.5738813571543,
+            149.99664196707235,
+            48.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -430.5738813571543,
+            149.99664196707235,
+            51.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -430.5738813571543,
+            149.99664196707235,
+            54.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -430.5738813571543,
+            149.99664196707235,
+            57.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -430.5738813571543,
+            149.99664196707235,
+            60.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -430.5738813571543,
+            149.99664196707235,
+            63.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -430.5738813571543,
+            149.99664196707235,
+            66.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -430.5738813571543,
+            149.99664196707235,
+            69.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -430.5738813571543,
+            149.99664196707235,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -427.97580514580096,
+            151.49664196707235,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -425.37772893444765,
+            152.99664196707235,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -422.77965272309433,
+            154.49664196707235,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -420.181576511741,
+            155.99664196707235,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -417.5835003003877,
+            157.49664196707235,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -414.9854240890344,
+            158.99664196707235,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -412.38734787768107,
+            160.49664196707235,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -412.38734787768107,
+            160.49664196707235,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -410.88734787768107,
+            163.09471817842567,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -409.38734787768107,
+            165.69279438977898,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -407.88734787768107,
+            168.2908706011323,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -406.38734787768107,
+            170.8889468124856,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -404.88734787768107,
+            173.48702302383893,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -403.38734787768107,
+            176.08509923519225,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -401.88734787768107,
+            178.68317544654556,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -400.38734787768107,
+            181.28125165789888,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -398.88734787768107,
+            183.8793278692522,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -397.38734787768107,
+            186.4774040806055,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -395.88734787768107,
+            189.07548029195883,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -394.38734787768107,
+            191.67355650331214,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -392.88734787768107,
+            194.27163271466546,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -391.38734787768107,
+            196.86970892601877,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -389.88734787768107,
+            199.4677851373721,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -388.38734787768107,
+            202.0658613487254,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -386.88734787768107,
+            204.66393756007872,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -385.38734787768107,
+            207.26201377143204,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -383.88734787768107,
+            209.86008998278535,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -383.88734787768107,
+            209.86008998278535,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -381.28927166632775,
+            211.36008998278535,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -378.69119545497443,
+            212.86008998278535,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -376.0931192436211,
+            214.36008998278535,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -373.4950430322678,
+            215.86008998278535,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -370.8969668209145,
+            217.36008998278535,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -368.29889060956117,
+            218.86008998278535,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -365.70081439820785,
+            220.36008998278535,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -363.10273818685454,
+            221.86008998278535,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -360.5046619755012,
+            223.36008998278535,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -357.9065857641479,
+            224.86008998278535,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -355.3085095527946,
+            226.36008998278535,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -352.7104333414413,
+            227.86008998278535,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -350.11235713008796,
+            229.36008998278535,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            -347.51428091873464,
+            230.86008998278535,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            -344.9162047073813,
+            232.36008998278535,
+            72.9409175171225
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            -344.9162047073813,
+            232.36008998278535,
+            69.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            -344.9162047073813,
+            232.36008998278535,
+            66.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            -344.9162047073813,
+            232.36008998278535,
+            63.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            -344.9162047073813,
+            232.36008998278535,
+            60.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            -344.9162047073813,
+            232.36008998278535,
+            57.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            -344.9162047073813,
+            232.36008998278535,
+            54.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            -344.9162047073813,
+            232.36008998278535,
+            51.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            -344.9162047073813,
+            232.36008998278535,
+            48.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            -344.9162047073813,
+            232.36008998278535,
+            45.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            -344.9162047073813,
+            232.36008998278535,
+            42.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            -344.9162047073813,
+            232.36008998278535,
+            39.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            -344.9162047073813,
+            232.36008998278535,
+            36.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            -344.9162047073813,
+            232.36008998278535,
+            33.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            -344.9162047073813,
+            232.36008998278535,
+            30.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            -344.9162047073813,
+            232.36008998278535,
+            27.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            -344.9162047073813,
+            232.36008998278535,
+            24.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -320.0,
+            256.0,
+            154.563
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_sh/astar_data/low_long_updown/2025-1-14_21-43-43_455843485/pose.jsonl

@@ -0,0 +1,1250 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            509.0089748383035,
+            -255.43149348805113,
+            24.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            509.0089748383035,
+            -255.43149348805113,
+            27.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            509.0089748383035,
+            -255.43149348805113,
+            30.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            509.0089748383035,
+            -255.43149348805113,
+            33.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            509.0089748383035,
+            -255.43149348805113,
+            36.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            509.0089748383035,
+            -255.43149348805113,
+            39.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            509.0089748383035,
+            -255.43149348805113,
+            42.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            509.0089748383035,
+            -255.43149348805113,
+            45.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            509.0089748383035,
+            -255.43149348805113,
+            48.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            509.0089748383035,
+            -255.43149348805113,
+            51.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            509.0089748383035,
+            -255.43149348805113,
+            54.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            509.0089748383035,
+            -255.43149348805113,
+            57.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            509.0089748383035,
+            -255.43149348805113,
+            60.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            509.0089748383035,
+            -255.43149348805113,
+            63.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            509.0089748383035,
+            -255.43149348805113,
+            66.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            509.0089748383035,
+            -255.43149348805113,
+            69.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            509.0089748383035,
+            -255.43149348805113,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            509.0089748383035,
+            -258.43149348805116,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            509.0089748383035,
+            -261.43149348805116,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            509.0089748383035,
+            -264.43149348805116,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            509.0089748383035,
+            -267.43149348805116,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            509.0089748383035,
+            -270.43149348805116,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            509.0089748383035,
+            -273.43149348805116,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            509.0089748383035,
+            -276.43149348805116,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            509.0089748383035,
+            -279.43149348805116,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            509.0089748383035,
+            -282.43149348805116,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            509.0089748383035,
+            -285.43149348805116,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            509.0089748383035,
+            -288.43149348805116,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            509.0089748383035,
+            -291.43149348805116,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            509.0089748383035,
+            -294.43149348805116,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            509.0089748383035,
+            -297.43149348805116,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            509.0089748383035,
+            -300.43149348805116,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            509.0089748383035,
+            -303.43149348805116,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            509.0089748383035,
+            -306.43149348805116,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            509.0089748383035,
+            -309.43149348805116,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            509.0089748383035,
+            -312.43149348805116,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            509.0089748383035,
+            -315.43149348805116,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            509.0089748383035,
+            -318.43149348805116,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            509.0089748383035,
+            -321.43149348805116,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            509.0089748383035,
+            -324.43149348805116,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            509.0089748383035,
+            -327.43149348805116,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            509.0089748383035,
+            -330.43149348805116,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            509.0089748383035,
+            -333.43149348805116,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            509.0089748383035,
+            -336.43149348805116,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            509.0089748383035,
+            -339.43149348805116,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            509.0089748383035,
+            -342.43149348805116,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            509.0089748383035,
+            -345.43149348805116,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            509.0089748383035,
+            -348.43149348805116,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            509.0089748383035,
+            -351.43149348805116,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            509.0089748383035,
+            -351.43149348805116,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            510.5089748383035,
+            -354.0295696994045,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            512.0089748383035,
+            -356.6276459107578,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            513.5089748383035,
+            -359.2257221221111,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            515.0089748383035,
+            -361.8237983334644,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            516.5089748383035,
+            -364.42187454481774,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            518.0089748383035,
+            -367.01995075617106,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            519.5089748383035,
+            -369.6180269675244,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            521.0089748383035,
+            -372.2161031788777,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            522.5089748383035,
+            -374.814179390231,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            524.0089748383035,
+            -377.4122556015843,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            524.0089748383035,
+            -377.4122556015843,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            526.6070510496568,
+            -378.9122556015843,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            529.2051272610101,
+            -380.4122556015843,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            531.8032034723635,
+            -381.9122556015843,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            534.4012796837169,
+            -383.4122556015843,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            536.9993558950703,
+            -384.9122556015843,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            539.5974321064236,
+            -386.4122556015843,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            542.195508317777,
+            -387.9122556015843,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            544.7935845291304,
+            -389.4122556015843,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            547.3916607404838,
+            -390.9122556015843,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            549.9897369518371,
+            -392.4122556015843,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            552.5878131631905,
+            -393.9122556015843,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            555.1858893745439,
+            -395.4122556015843,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            557.7839655858972,
+            -396.9122556015843,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            560.3820417972506,
+            -398.4122556015843,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            562.980118008604,
+            -399.9122556015843,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            565.5781942199574,
+            -401.4122556015843,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            568.1762704313107,
+            -402.9122556015843,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            570.7743466426641,
+            -404.4122556015843,
+            72.9409175171225
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            570.7743466426641,
+            -404.4122556015843,
+            69.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            570.7743466426641,
+            -404.4122556015843,
+            66.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 81,
+        "pos": [
+            570.7743466426641,
+            -404.4122556015843,
+            63.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 82,
+        "pos": [
+            570.7743466426641,
+            -404.4122556015843,
+            60.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 83,
+        "pos": [
+            570.7743466426641,
+            -404.4122556015843,
+            57.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 84,
+        "pos": [
+            570.7743466426641,
+            -404.4122556015843,
+            54.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 85,
+        "pos": [
+            570.7743466426641,
+            -404.4122556015843,
+            51.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 86,
+        "pos": [
+            570.7743466426641,
+            -404.4122556015843,
+            48.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 87,
+        "pos": [
+            570.7743466426641,
+            -404.4122556015843,
+            45.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 88,
+        "pos": [
+            570.7743466426641,
+            -404.4122556015843,
+            42.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 89,
+        "pos": [
+            570.7743466426641,
+            -404.4122556015843,
+            39.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 90,
+        "pos": [
+            570.7743466426641,
+            -404.4122556015843,
+            36.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 91,
+        "pos": [
+            570.7743466426641,
+            -404.4122556015843,
+            33.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 92,
+        "pos": [
+            570.7743466426641,
+            -404.4122556015843,
+            30.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 93,
+        "pos": [
+            570.7743466426641,
+            -404.4122556015843,
+            27.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 94,
+        "pos": [
+            570.7743466426641,
+            -404.4122556015843,
+            24.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            580.0,
+            -420.0,
+            64.5499
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_sh/astar_data/low_long_updown/2025-1-14_23-35-18_312186354/pose.jsonl

@@ -0,0 +1,1120 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -431.2165802312049,
+            615.2257392862485,
+            24.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -431.2165802312049,
+            615.2257392862485,
+            27.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -431.2165802312049,
+            615.2257392862485,
+            30.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -431.2165802312049,
+            615.2257392862485,
+            33.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -431.2165802312049,
+            615.2257392862485,
+            36.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -431.2165802312049,
+            615.2257392862485,
+            39.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -431.2165802312049,
+            615.2257392862485,
+            42.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -431.2165802312049,
+            615.2257392862485,
+            45.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -431.2165802312049,
+            615.2257392862485,
+            48.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -431.2165802312049,
+            615.2257392862485,
+            51.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -431.2165802312049,
+            615.2257392862485,
+            54.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -431.2165802312049,
+            615.2257392862485,
+            57.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -431.2165802312049,
+            615.2257392862485,
+            60.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -431.2165802312049,
+            615.2257392862485,
+            63.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -431.2165802312049,
+            615.2257392862485,
+            66.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -431.2165802312049,
+            615.2257392862485,
+            69.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -431.2165802312049,
+            615.2257392862485,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -429.7165802312049,
+            612.6276630748953,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -429.7165802312049,
+            612.6276630748953,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982895
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -427.11850401985157,
+            611.1276630748953,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -424.52042780849825,
+            609.6276630748953,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -424.52042780849825,
+            609.6276630748953,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -423.02042780849825,
+            607.0295868635419,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -421.52042780849825,
+            604.4315106521885,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -420.02042780849825,
+            601.8334344408352,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -418.52042780849825,
+            599.2353582294818,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -417.02042780849825,
+            596.6372820181284,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -415.52042780849825,
+            594.039205806775,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -415.52042780849825,
+            594.039205806775,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -412.92235159714494,
+            592.539205806775,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -410.3242753857916,
+            591.039205806775,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -410.3242753857916,
+            591.039205806775,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -408.8242753857916,
+            588.4411295954217,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -407.3242753857916,
+            585.8430533840683,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -405.8242753857916,
+            583.2449771727149,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -404.3242753857916,
+            580.6469009613616,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -402.8242753857916,
+            578.0488247500082,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -401.3242753857916,
+            575.4507485386548,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -401.3242753857916,
+            575.4507485386548,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -401.3242753857916,
+            572.4507485386548,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -401.3242753857916,
+            569.4507485386548,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -401.3242753857916,
+            566.4507485386548,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -401.3242753857916,
+            563.4507485386548,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -401.3242753857916,
+            560.4507485386548,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -401.3242753857916,
+            557.4507485386548,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -401.3242753857916,
+            554.4507485386548,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -401.3242753857916,
+            551.4507485386548,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -401.3242753857916,
+            548.4507485386548,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -401.3242753857916,
+            545.4507485386548,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -401.3242753857916,
+            542.4507485386548,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -401.3242753857916,
+            539.4507485386548,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -401.3242753857916,
+            536.4507485386548,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -401.3242753857916,
+            533.4507485386548,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -401.3242753857916,
+            530.4507485386548,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -401.3242753857916,
+            527.4507485386548,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -401.3242753857916,
+            524.4507485386548,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -401.3242753857916,
+            521.4507485386548,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -401.3242753857916,
+            518.4507485386548,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            -401.3242753857916,
+            515.4507485386548,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            -401.3242753857916,
+            512.4507485386548,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            -401.3242753857916,
+            512.4507485386548,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            -402.8242753857916,
+            509.8526723273015,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            -404.3242753857916,
+            507.2545961159482,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            -405.8242753857916,
+            504.65651990459486,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            -407.3242753857916,
+            502.05844369324154,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            -408.8242753857916,
+            499.4603674818882,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            -408.8242753857916,
+            499.4603674818882,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            -408.8242753857916,
+            496.4603674818882,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            -408.8242753857916,
+            493.4603674818882,
+            72.9409175171225
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            -408.8242753857916,
+            493.4603674818882,
+            69.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            -408.8242753857916,
+            493.4603674818882,
+            66.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            -408.8242753857916,
+            493.4603674818882,
+            63.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            -408.8242753857916,
+            493.4603674818882,
+            60.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            -408.8242753857916,
+            493.4603674818882,
+            57.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            -408.8242753857916,
+            493.4603674818882,
+            54.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            -408.8242753857916,
+            493.4603674818882,
+            51.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            -408.8242753857916,
+            493.4603674818882,
+            48.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            -408.8242753857916,
+            493.4603674818882,
+            45.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            -408.8242753857916,
+            493.4603674818882,
+            42.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            -408.8242753857916,
+            493.4603674818882,
+            39.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            -408.8242753857916,
+            493.4603674818882,
+            36.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 81,
+        "pos": [
+            -408.8242753857916,
+            493.4603674818882,
+            33.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 82,
+        "pos": [
+            -408.8242753857916,
+            493.4603674818882,
+            30.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 83,
+        "pos": [
+            -408.8242753857916,
+            493.4603674818882,
+            27.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 84,
+        "pos": [
+            -408.8242753857916,
+            493.4603674818882,
+            24.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -400.0,
+            440.0,
+            80.5239
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_sh/astar_data/low_long_updown/2025-1-14_8-11-20_1239036029/pose.jsonl

@@ -0,0 +1,990 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1212.3969451545886,
+            -874.208153829859,
+            24.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1212.3969451545886,
+            -874.208153829859,
+            27.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1212.3969451545886,
+            -874.208153829859,
+            30.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1212.3969451545886,
+            -874.208153829859,
+            33.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1212.3969451545886,
+            -874.208153829859,
+            36.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1212.3969451545886,
+            -874.208153829859,
+            39.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1212.3969451545886,
+            -874.208153829859,
+            42.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1212.3969451545886,
+            -874.208153829859,
+            45.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1212.3969451545886,
+            -874.208153829859,
+            48.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1212.3969451545886,
+            -874.208153829859,
+            51.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1212.3969451545886,
+            -874.208153829859,
+            54.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1212.3969451545886,
+            -874.208153829859,
+            57.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1212.3969451545886,
+            -874.208153829859,
+            60.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1212.3969451545886,
+            -874.208153829859,
+            63.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1212.3969451545886,
+            -874.208153829859,
+            66.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1212.3969451545886,
+            -874.208153829859,
+            69.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1212.3969451545886,
+            -874.208153829859,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1214.995021365942,
+            -872.708153829859,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1217.5930975772953,
+            -871.208153829859,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1220.1911737886487,
+            -869.708153829859,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1222.789250000002,
+            -868.208153829859,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1225.3873262113555,
+            -866.708153829859,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1227.9854024227088,
+            -865.208153829859,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1230.5834786340622,
+            -863.708153829859,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1233.1815548454156,
+            -862.208153829859,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1235.779631056769,
+            -860.708153829859,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1238.3777072681223,
+            -859.208153829859,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1240.9757834794757,
+            -857.708153829859,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1243.573859690829,
+            -856.208153829859,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1246.1719359021824,
+            -854.708153829859,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1248.7700121135358,
+            -853.208153829859,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1251.3680883248892,
+            -851.708153829859,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1253.9661645362426,
+            -850.208153829859,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1256.564240747596,
+            -848.708153829859,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1259.1623169589493,
+            -847.208153829859,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1261.7603931703027,
+            -845.708153829859,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1264.358469381656,
+            -844.208153829859,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1266.9565455930094,
+            -842.708153829859,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1269.5546218043628,
+            -841.208153829859,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1272.1526980157162,
+            -839.708153829859,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1274.7507742270695,
+            -838.208153829859,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1277.348850438423,
+            -836.708153829859,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1279.9469266497763,
+            -835.208153829859,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1282.5450028611297,
+            -833.708153829859,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1285.143079072483,
+            -832.208153829859,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1287.7411552838364,
+            -830.708153829859,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1290.3392314951898,
+            -829.208153829859,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1292.9373077065432,
+            -827.708153829859,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1295.5353839178965,
+            -826.208153829859,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1298.13346012925,
+            -824.708153829859,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            1300.7315363406033,
+            -823.208153829859,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            1303.3296125519566,
+            -821.708153829859,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            1305.92768876331,
+            -820.208153829859,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            1308.5257649746634,
+            -818.708153829859,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            1308.5257649746634,
+            -818.708153829859,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            1310.0257649746634,
+            -816.1100776185058,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            1311.5257649746634,
+            -813.5120014071524,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            1313.0257649746634,
+            -810.913925195799,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            1314.5257649746634,
+            -808.3158489844457,
+            72.9409175171225
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            1314.5257649746634,
+            -808.3158489844457,
+            69.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            1314.5257649746634,
+            -808.3158489844457,
+            66.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            1314.5257649746634,
+            -808.3158489844457,
+            63.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            1314.5257649746634,
+            -808.3158489844457,
+            60.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            1314.5257649746634,
+            -808.3158489844457,
+            57.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            1314.5257649746634,
+            -808.3158489844457,
+            54.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            1314.5257649746634,
+            -808.3158489844457,
+            51.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            1314.5257649746634,
+            -808.3158489844457,
+            48.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            1314.5257649746634,
+            -808.3158489844457,
+            45.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            1314.5257649746634,
+            -808.3158489844457,
+            42.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            1314.5257649746634,
+            -808.3158489844457,
+            39.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            1314.5257649746634,
+            -808.3158489844457,
+            36.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            1314.5257649746634,
+            -808.3158489844457,
+            33.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            1314.5257649746634,
+            -808.3158489844457,
+            30.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            1314.5257649746634,
+            -808.3158489844457,
+            27.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            1314.5257649746634,
+            -808.3158489844457,
+            24.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1340.0,
+            -792.0,
+            84.5863
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_sh/astar_data/low_long_updown/2025-1-14_8-13-46_1350573793/pose.jsonl

@@ -0,0 +1,1068 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            409.36133661707163,
+            880.6384130770123,
+            24.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            409.36133661707163,
+            880.6384130770123,
+            27.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            409.36133661707163,
+            880.6384130770123,
+            30.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            409.36133661707163,
+            880.6384130770123,
+            33.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            409.36133661707163,
+            880.6384130770123,
+            36.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            409.36133661707163,
+            880.6384130770123,
+            39.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            409.36133661707163,
+            880.6384130770123,
+            42.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            409.36133661707163,
+            880.6384130770123,
+            45.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            409.36133661707163,
+            880.6384130770123,
+            48.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            409.36133661707163,
+            880.6384130770123,
+            51.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            409.36133661707163,
+            880.6384130770123,
+            54.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            409.36133661707163,
+            880.6384130770123,
+            57.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            409.36133661707163,
+            880.6384130770123,
+            60.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            409.36133661707163,
+            880.6384130770123,
+            63.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            409.36133661707163,
+            880.6384130770123,
+            66.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            409.36133661707163,
+            880.6384130770123,
+            69.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            409.36133661707163,
+            880.6384130770123,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            412.36133661707163,
+            880.6384130770123,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            415.36133661707163,
+            880.6384130770123,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            418.36133661707163,
+            880.6384130770123,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            421.36133661707163,
+            880.6384130770123,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            424.36133661707163,
+            880.6384130770123,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            427.36133661707163,
+            880.6384130770123,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            430.36133661707163,
+            880.6384130770123,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            433.36133661707163,
+            880.6384130770123,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            436.36133661707163,
+            880.6384130770123,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            439.36133661707163,
+            880.6384130770123,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            439.36133661707163,
+            880.6384130770123,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            441.95941282842495,
+            879.1384130770123,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            444.55748903977826,
+            877.6384130770123,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            447.1555652511316,
+            876.1384130770123,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            449.7536414624849,
+            874.6384130770123,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            452.3517176738382,
+            873.1384130770123,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            452.3517176738382,
+            873.1384130770123,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            455.3517176738382,
+            873.1384130770123,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            458.3517176738382,
+            873.1384130770123,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            461.3517176738382,
+            873.1384130770123,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            464.3517176738382,
+            873.1384130770123,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            464.3517176738382,
+            873.1384130770123,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            466.9497938851915,
+            874.6384130770123,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            469.54787009654484,
+            876.1384130770123,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            472.14594630789816,
+            877.6384130770123,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            474.7440225192515,
+            879.1384130770123,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            477.3420987306048,
+            880.6384130770123,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            479.9401749419581,
+            882.1384130770123,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            482.5382511533114,
+            883.6384130770123,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            485.13632736466474,
+            885.1384130770123,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            487.73440357601805,
+            886.6384130770123,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            490.33247978737137,
+            888.1384130770123,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            492.9305559987247,
+            889.6384130770123,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            495.528632210078,
+            891.1384130770123,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            498.1267084214313,
+            892.6384130770123,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            500.72478463278463,
+            894.1384130770123,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            503.32286084413795,
+            895.6384130770123,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            505.92093705549127,
+            897.1384130770123,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            508.5190132668446,
+            898.6384130770123,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            511.1170894781979,
+            900.1384130770123,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            513.7151656895512,
+            901.6384130770123,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            516.3132419009046,
+            903.1384130770123,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            518.911318112258,
+            904.6384130770123,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            521.5093943236113,
+            906.1384130770123,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            524.1074705349647,
+            907.6384130770123,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            526.7055467463181,
+            909.1384130770123,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            529.3036229576715,
+            910.6384130770123,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            531.9016991690248,
+            912.1384130770123,
+            72.9409175171225
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            531.9016991690248,
+            912.1384130770123,
+            69.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            531.9016991690248,
+            912.1384130770123,
+            66.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            531.9016991690248,
+            912.1384130770123,
+            63.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            531.9016991690248,
+            912.1384130770123,
+            60.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            531.9016991690248,
+            912.1384130770123,
+            57.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            531.9016991690248,
+            912.1384130770123,
+            54.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            531.9016991690248,
+            912.1384130770123,
+            51.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            531.9016991690248,
+            912.1384130770123,
+            48.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            531.9016991690248,
+            912.1384130770123,
+            45.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            531.9016991690248,
+            912.1384130770123,
+            42.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            531.9016991690248,
+            912.1384130770123,
+            39.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            531.9016991690248,
+            912.1384130770123,
+            36.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            531.9016991690248,
+            912.1384130770123,
+            33.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            531.9016991690248,
+            912.1384130770123,
+            30.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            531.9016991690248,
+            912.1384130770123,
+            27.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            531.9016991690248,
+            912.1384130770123,
+            24.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            560.0,
+            920.0,
+            216.131
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_sh/astar_data/low_long_updown/2025-1-14_8-4-33_1244316437/pose.jsonl

@@ -0,0 +1,1250 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            492.1880828161072,
+            -274.85947001553814,
+            24.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            492.1880828161072,
+            -274.85947001553814,
+            27.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            492.1880828161072,
+            -274.85947001553814,
+            30.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            492.1880828161072,
+            -274.85947001553814,
+            33.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            492.1880828161072,
+            -274.85947001553814,
+            36.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            492.1880828161072,
+            -274.85947001553814,
+            39.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            492.1880828161072,
+            -274.85947001553814,
+            42.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            492.1880828161072,
+            -274.85947001553814,
+            45.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            492.1880828161072,
+            -274.85947001553814,
+            48.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            492.1880828161072,
+            -274.85947001553814,
+            51.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            492.1880828161072,
+            -274.85947001553814,
+            54.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            492.1880828161072,
+            -274.85947001553814,
+            57.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            492.1880828161072,
+            -274.85947001553814,
+            60.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            492.1880828161072,
+            -274.85947001553814,
+            63.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            492.1880828161072,
+            -274.85947001553814,
+            66.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            492.1880828161072,
+            -274.85947001553814,
+            69.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            492.1880828161072,
+            -274.85947001553814,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            493.6880828161072,
+            -277.45754622689145,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            495.1880828161072,
+            -280.05562243824477,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            496.6880828161072,
+            -282.6536986495981,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            498.1880828161072,
+            -285.2517748609514,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            499.6880828161072,
+            -287.8498510723047,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            501.1880828161072,
+            -290.44792728365803,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            502.6880828161072,
+            -293.04600349501135,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            504.1880828161072,
+            -295.64407970636466,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            505.6880828161072,
+            -298.242155917718,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            507.1880828161072,
+            -300.8402321290713,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            508.6880828161072,
+            -303.4383083404246,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            510.1880828161072,
+            -306.0363845517779,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            511.6880828161072,
+            -308.63446076313124,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            511.6880828161072,
+            -308.63446076313124,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            511.6880828161072,
+            -311.63446076313124,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            511.6880828161072,
+            -314.63446076313124,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            511.6880828161072,
+            -317.63446076313124,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            511.6880828161072,
+            -320.63446076313124,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            511.6880828161072,
+            -323.63446076313124,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            511.6880828161072,
+            -326.63446076313124,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            511.6880828161072,
+            -329.63446076313124,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            511.6880828161072,
+            -332.63446076313124,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            511.6880828161072,
+            -335.63446076313124,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            511.6880828161072,
+            -338.63446076313124,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            511.6880828161072,
+            -341.63446076313124,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            511.6880828161072,
+            -344.63446076313124,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            511.6880828161072,
+            -347.63446076313124,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            511.6880828161072,
+            -350.63446076313124,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            511.6880828161072,
+            -353.63446076313124,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            511.6880828161072,
+            -356.63446076313124,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            511.6880828161072,
+            -359.63446076313124,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            511.6880828161072,
+            -362.63446076313124,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            511.6880828161072,
+            -365.63446076313124,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            511.6880828161072,
+            -365.63446076313124,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            511.6880828161072,
+            -365.63446076313124,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982989
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            514.2861590274606,
+            -367.13446076313124,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            516.884235238814,
+            -368.63446076313124,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            519.4823114501673,
+            -370.13446076313124,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            522.0803876615207,
+            -371.63446076313124,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            524.6784638728741,
+            -373.13446076313124,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            527.2765400842275,
+            -374.63446076313124,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            529.8746162955808,
+            -376.13446076313124,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            532.4726925069342,
+            -377.63446076313124,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            535.0707687182876,
+            -379.13446076313124,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            537.668844929641,
+            -380.63446076313124,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            540.2669211409943,
+            -382.13446076313124,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            542.8649973523477,
+            -383.63446076313124,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            545.4630735637011,
+            -385.13446076313124,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            548.0611497750544,
+            -386.63446076313124,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            550.6592259864078,
+            -388.13446076313124,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            553.2573021977612,
+            -389.63446076313124,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            555.8553784091146,
+            -391.13446076313124,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            558.4534546204679,
+            -392.63446076313124,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            561.0515308318213,
+            -394.13446076313124,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            563.6496070431747,
+            -395.63446076313124,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            566.247683254528,
+            -397.13446076313124,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            568.8457594658814,
+            -398.63446076313124,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            571.4438356772348,
+            -400.13446076313124,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            571.4438356772348,
+            -400.13446076313124,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            571.4438356772348,
+            -400.13446076313124,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.570796326794887
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            571.4438356772348,
+            -403.13446076313124,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            571.4438356772348,
+            -406.13446076313124,
+            72.9409175171225
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            571.4438356772348,
+            -406.13446076313124,
+            69.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            571.4438356772348,
+            -406.13446076313124,
+            66.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 81,
+        "pos": [
+            571.4438356772348,
+            -406.13446076313124,
+            63.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 82,
+        "pos": [
+            571.4438356772348,
+            -406.13446076313124,
+            60.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 83,
+        "pos": [
+            571.4438356772348,
+            -406.13446076313124,
+            57.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 84,
+        "pos": [
+            571.4438356772348,
+            -406.13446076313124,
+            54.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 85,
+        "pos": [
+            571.4438356772348,
+            -406.13446076313124,
+            51.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 86,
+        "pos": [
+            571.4438356772348,
+            -406.13446076313124,
+            48.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 87,
+        "pos": [
+            571.4438356772348,
+            -406.13446076313124,
+            45.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 88,
+        "pos": [
+            571.4438356772348,
+            -406.13446076313124,
+            42.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 89,
+        "pos": [
+            571.4438356772348,
+            -406.13446076313124,
+            39.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 90,
+        "pos": [
+            571.4438356772348,
+            -406.13446076313124,
+            36.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 91,
+        "pos": [
+            571.4438356772348,
+            -406.13446076313124,
+            33.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 92,
+        "pos": [
+            571.4438356772348,
+            -406.13446076313124,
+            30.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 93,
+        "pos": [
+            571.4438356772348,
+            -406.13446076313124,
+            27.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 94,
+        "pos": [
+            571.4438356772348,
+            -406.13446076313124,
+            24.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            580.0,
+            -420.0,
+            64.5499
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_sh/astar_data/low_long_updown/2025-1-14_8-47-15_1820388464/pose.jsonl

@@ -0,0 +1,1172 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            380.5395259190215,
+            -884.2273494274597,
+            24.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            380.5395259190215,
+            -884.2273494274597,
+            27.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            380.5395259190215,
+            -884.2273494274597,
+            30.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            380.5395259190215,
+            -884.2273494274597,
+            33.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            380.5395259190215,
+            -884.2273494274597,
+            36.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            380.5395259190215,
+            -884.2273494274597,
+            39.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            380.5395259190215,
+            -884.2273494274597,
+            42.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            380.5395259190215,
+            -884.2273494274597,
+            45.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            380.5395259190215,
+            -884.2273494274597,
+            48.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            380.5395259190215,
+            -884.2273494274597,
+            51.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            380.5395259190215,
+            -884.2273494274597,
+            54.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            380.5395259190215,
+            -884.2273494274597,
+            57.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            380.5395259190215,
+            -884.2273494274597,
+            60.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            380.5395259190215,
+            -884.2273494274597,
+            63.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            380.5395259190215,
+            -884.2273494274597,
+            66.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            380.5395259190215,
+            -884.2273494274597,
+            69.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            380.5395259190215,
+            -884.2273494274597,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            377.9414497076682,
+            -882.7273494274597,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            375.3433734963149,
+            -881.2273494274597,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            372.74529728496157,
+            -879.7273494274597,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            370.14722107360825,
+            -878.2273494274597,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            367.54914486225493,
+            -876.7273494274597,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            364.9510686509016,
+            -875.2273494274597,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            362.3529924395483,
+            -873.7273494274597,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            359.754916228195,
+            -872.2273494274597,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            357.15684001684167,
+            -870.7273494274597,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            354.55876380548835,
+            -869.2273494274597,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            351.96068759413504,
+            -867.7273494274597,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            349.3626113827817,
+            -866.2273494274597,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            346.7645351714284,
+            -864.7273494274597,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            344.1664589600751,
+            -863.2273494274597,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            341.5683827487218,
+            -861.7273494274597,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            338.97030653736846,
+            -860.2273494274597,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            336.37223032601514,
+            -858.7273494274597,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            333.7741541146618,
+            -857.2273494274597,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            331.1760779033085,
+            -855.7273494274597,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            328.5780016919552,
+            -854.2273494274597,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            325.9799254806019,
+            -852.7273494274597,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            323.38184926924856,
+            -851.2273494274597,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            320.78377305789525,
+            -849.7273494274597,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            318.18569684654193,
+            -848.2273494274597,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            315.5876206351886,
+            -846.7273494274597,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            315.5876206351886,
+            -846.7273494274597,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            314.0876206351886,
+            -844.1292732161064,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            312.5876206351886,
+            -841.531197004753,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            311.0876206351886,
+            -838.9331207933997,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            309.5876206351886,
+            -836.3350445820463,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            308.0876206351886,
+            -833.7369683706929,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            306.5876206351886,
+            -831.1388921593395,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            305.0876206351886,
+            -828.5408159479862,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            303.5876206351886,
+            -825.9427397366328,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            302.0876206351886,
+            -823.3446635252794,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            300.5876206351886,
+            -820.746587313926,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            299.0876206351886,
+            -818.1485111025727,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            297.5876206351886,
+            -815.5504348912193,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            296.0876206351886,
+            -812.9523586798659,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            294.5876206351886,
+            -810.3542824685126,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            294.5876206351886,
+            -810.3542824685126,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            294.5876206351886,
+            -807.3542824685126,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            294.5876206351886,
+            -804.3542824685126,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            294.5876206351886,
+            -801.3542824685126,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            294.5876206351886,
+            -798.3542824685126,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            294.5876206351886,
+            -795.3542824685126,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            294.5876206351886,
+            -792.3542824685126,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            294.5876206351886,
+            -789.3542824685126,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            294.5876206351886,
+            -786.3542824685126,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            294.5876206351886,
+            -783.3542824685126,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            294.5876206351886,
+            -780.3542824685126,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            294.5876206351886,
+            -777.3542824685126,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            294.5876206351886,
+            -774.3542824685126,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            294.5876206351886,
+            -771.3542824685126,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            294.5876206351886,
+            -768.3542824685126,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            294.5876206351886,
+            -765.3542824685126,
+            72.9409175171225
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            294.5876206351886,
+            -765.3542824685126,
+            69.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            294.5876206351886,
+            -765.3542824685126,
+            66.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            294.5876206351886,
+            -765.3542824685126,
+            63.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            294.5876206351886,
+            -765.3542824685126,
+            60.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            294.5876206351886,
+            -765.3542824685126,
+            57.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            294.5876206351886,
+            -765.3542824685126,
+            54.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            294.5876206351886,
+            -765.3542824685126,
+            51.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            294.5876206351886,
+            -765.3542824685126,
+            48.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 81,
+        "pos": [
+            294.5876206351886,
+            -765.3542824685126,
+            45.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 82,
+        "pos": [
+            294.5876206351886,
+            -765.3542824685126,
+            42.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 83,
+        "pos": [
+            294.5876206351886,
+            -765.3542824685126,
+            39.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 84,
+        "pos": [
+            294.5876206351886,
+            -765.3542824685126,
+            36.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 85,
+        "pos": [
+            294.5876206351886,
+            -765.3542824685126,
+            33.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 86,
+        "pos": [
+            294.5876206351886,
+            -765.3542824685126,
+            30.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 87,
+        "pos": [
+            294.5876206351886,
+            -765.3542824685126,
+            27.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 88,
+        "pos": [
+            294.5876206351886,
+            -765.3542824685126,
+            24.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            276.0,
+            -740.0,
+            147.026
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_sh/astar_data/low_long_updown/2025-1-14_8-58-34_1335354340/pose.jsonl

@@ -0,0 +1,1120 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1150.7596435671967,
+            1495.957859949462,
+            24.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1150.7596435671967,
+            1495.957859949462,
+            27.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1150.7596435671967,
+            1495.957859949462,
+            30.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1150.7596435671967,
+            1495.957859949462,
+            33.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1150.7596435671967,
+            1495.957859949462,
+            36.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1150.7596435671967,
+            1495.957859949462,
+            39.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1150.7596435671967,
+            1495.957859949462,
+            42.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1150.7596435671967,
+            1495.957859949462,
+            45.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1150.7596435671967,
+            1495.957859949462,
+            48.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1150.7596435671967,
+            1495.957859949462,
+            51.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1150.7596435671967,
+            1495.957859949462,
+            54.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1150.7596435671967,
+            1495.957859949462,
+            57.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1150.7596435671967,
+            1495.957859949462,
+            60.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1150.7596435671967,
+            1495.957859949462,
+            63.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1150.7596435671967,
+            1495.957859949462,
+            66.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1150.7596435671967,
+            1495.957859949462,
+            69.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1150.7596435671967,
+            1495.957859949462,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1149.2596435671967,
+            1498.5559361608155,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1147.7596435671967,
+            1501.1540123721688,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1146.2596435671967,
+            1503.7520885835222,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1144.7596435671967,
+            1506.3501647948756,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1143.2596435671967,
+            1508.948241006229,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1141.7596435671967,
+            1511.5463172175823,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1140.2596435671967,
+            1514.1443934289357,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1138.7596435671967,
+            1516.742469640289,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1137.2596435671967,
+            1519.3405458516424,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1135.7596435671967,
+            1521.9386220629958,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1134.2596435671967,
+            1524.5366982743492,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1132.7596435671967,
+            1527.1347744857026,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1131.2596435671967,
+            1529.732850697056,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1129.7596435671967,
+            1532.3309269084093,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1128.2596435671967,
+            1534.9290031197627,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1126.7596435671967,
+            1537.527079331116,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1125.2596435671967,
+            1540.1251555424694,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1123.7596435671967,
+            1542.7232317538228,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1122.2596435671967,
+            1545.3213079651762,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1120.7596435671967,
+            1547.9193841765295,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1119.2596435671967,
+            1550.517460387883,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1117.7596435671967,
+            1553.1155365992363,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1116.2596435671967,
+            1555.7136128105897,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -1114.7596435671967,
+            1558.311689021943,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -1113.2596435671967,
+            1560.9097652332964,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -1111.7596435671967,
+            1563.5078414446498,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -1110.2596435671967,
+            1566.1059176560032,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -1108.7596435671967,
+            1568.7039938673565,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -1108.7596435671967,
+            1568.7039938673565,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -1106.1615673558433,
+            1570.2039938673565,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -1103.56349114449,
+            1571.7039938673565,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -1100.9654149331366,
+            1573.2039938673565,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -1098.3673387217832,
+            1574.7039938673565,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -1095.7692625104298,
+            1576.2039938673565,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -1093.1711862990765,
+            1577.7039938673565,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -1090.573110087723,
+            1579.2039938673565,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -1087.9750338763697,
+            1580.7039938673565,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -1085.3769576650163,
+            1582.2039938673565,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -1082.778881453663,
+            1583.7039938673565,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -1080.1808052423096,
+            1585.2039938673565,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -1077.5827290309562,
+            1586.7039938673565,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            -1074.9846528196028,
+            1588.2039938673565,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            -1072.3865766082495,
+            1589.7039938673565,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            -1069.788500396896,
+            1591.2039938673565,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            -1067.1904241855427,
+            1592.7039938673565,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            -1064.5923479741894,
+            1594.2039938673565,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            -1061.994271762836,
+            1595.7039938673565,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            -1059.3961955514826,
+            1597.2039938673565,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            -1056.7981193401292,
+            1598.7039938673565,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            -1054.2000431287759,
+            1600.2039938673565,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            -1051.6019669174225,
+            1601.7039938673565,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            -1049.0038907060691,
+            1603.2039938673565,
+            72.9409175171225
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            -1049.0038907060691,
+            1603.2039938673565,
+            69.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            -1049.0038907060691,
+            1603.2039938673565,
+            66.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            -1049.0038907060691,
+            1603.2039938673565,
+            63.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            -1049.0038907060691,
+            1603.2039938673565,
+            60.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            -1049.0038907060691,
+            1603.2039938673565,
+            57.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            -1049.0038907060691,
+            1603.2039938673565,
+            54.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            -1049.0038907060691,
+            1603.2039938673565,
+            51.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            -1049.0038907060691,
+            1603.2039938673565,
+            48.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            -1049.0038907060691,
+            1603.2039938673565,
+            45.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            -1049.0038907060691,
+            1603.2039938673565,
+            42.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            -1049.0038907060691,
+            1603.2039938673565,
+            39.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            -1049.0038907060691,
+            1603.2039938673565,
+            36.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 81,
+        "pos": [
+            -1049.0038907060691,
+            1603.2039938673565,
+            33.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 82,
+        "pos": [
+            -1049.0038907060691,
+            1603.2039938673565,
+            30.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 83,
+        "pos": [
+            -1049.0038907060691,
+            1603.2039938673565,
+            27.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 84,
+        "pos": [
+            -1049.0038907060691,
+            1603.2039938673565,
+            24.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1032.0,
+            1620.0,
+            102.189
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_sh/astar_data/low_long_updown/2025-1-15_1-23-21_838139053/pose.jsonl

@@ -0,0 +1,1172 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            408.9492705239046,
+            -434.7341807801354,
+            24.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            408.9492705239046,
+            -434.7341807801354,
+            27.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            408.9492705239046,
+            -434.7341807801354,
+            30.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            408.9492705239046,
+            -434.7341807801354,
+            33.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            408.9492705239046,
+            -434.7341807801354,
+            36.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            408.9492705239046,
+            -434.7341807801354,
+            39.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            408.9492705239046,
+            -434.7341807801354,
+            42.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            408.9492705239046,
+            -434.7341807801354,
+            45.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            408.9492705239046,
+            -434.7341807801354,
+            48.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            408.9492705239046,
+            -434.7341807801354,
+            51.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            408.9492705239046,
+            -434.7341807801354,
+            54.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            408.9492705239046,
+            -434.7341807801354,
+            57.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            408.9492705239046,
+            -434.7341807801354,
+            60.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            408.9492705239046,
+            -434.7341807801354,
+            63.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            408.9492705239046,
+            -434.7341807801354,
+            66.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            408.9492705239046,
+            -434.7341807801354,
+            69.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            408.9492705239046,
+            -434.7341807801354,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            406.3511943125513,
+            -436.2341807801354,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            403.75311810119797,
+            -437.7341807801354,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            401.15504188984465,
+            -439.2341807801354,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            398.55696567849134,
+            -440.7341807801354,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            395.958889467138,
+            -442.2341807801354,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            393.3608132557847,
+            -443.7341807801354,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            390.7627370444314,
+            -445.2341807801354,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            388.1646608330781,
+            -446.7341807801354,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            388.1646608330781,
+            -446.7341807801354,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            385.1646608330781,
+            -446.7341807801354,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            382.1646608330781,
+            -446.7341807801354,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            379.1646608330781,
+            -446.7341807801354,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            379.1646608330781,
+            -446.7341807801354,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            376.56658462172476,
+            -448.2341807801354,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            376.56658462172476,
+            -448.2341807801354,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            375.06658462172476,
+            -450.8322569914887,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            373.56658462172476,
+            -453.430333202842,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            373.56658462172476,
+            -453.430333202842,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            370.96850841037144,
+            -454.930333202842,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            368.3704321990181,
+            -456.430333202842,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            365.7723559876648,
+            -457.930333202842,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            363.1742797763115,
+            -459.430333202842,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            360.5762035649582,
+            -460.930333202842,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            357.97812735360486,
+            -462.430333202842,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            355.38005114225155,
+            -463.930333202842,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            352.78197493089823,
+            -465.430333202842,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            350.1838987195449,
+            -466.930333202842,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            347.5858225081916,
+            -468.430333202842,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            344.9877462968383,
+            -469.930333202842,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            342.38967008548497,
+            -471.430333202842,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            339.79159387413165,
+            -472.930333202842,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            337.19351766277833,
+            -474.430333202842,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            334.595441451425,
+            -475.930333202842,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            331.9973652400717,
+            -477.430333202842,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            329.3992890287184,
+            -478.930333202842,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            326.80121281736507,
+            -480.430333202842,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            324.20313660601175,
+            -481.930333202842,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            321.60506039465844,
+            -483.430333202842,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            319.0069841833051,
+            -484.930333202842,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            316.4089079719518,
+            -486.430333202842,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            313.8108317605985,
+            -487.930333202842,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            311.2127555492452,
+            -489.430333202842,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            308.61467933789186,
+            -490.930333202842,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            306.01660312653854,
+            -492.430333202842,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            303.4185269151852,
+            -493.930333202842,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            300.8204507038319,
+            -495.430333202842,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            298.2223744924786,
+            -496.930333202842,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            295.6242982811253,
+            -498.430333202842,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            293.02622206977196,
+            -499.930333202842,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            290.42814585841865,
+            -501.430333202842,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            287.83006964706533,
+            -502.930333202842,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            285.231993435712,
+            -504.430333202842,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            282.6339172243587,
+            -505.930333202842,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            282.6339172243587,
+            -505.930333202842,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            281.1339172243587,
+            -508.5284094141953,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            279.6339172243587,
+            -511.12648562554864,
+            72.9409175171225
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            279.6339172243587,
+            -511.12648562554864,
+            69.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            279.6339172243587,
+            -511.12648562554864,
+            66.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            279.6339172243587,
+            -511.12648562554864,
+            63.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            279.6339172243587,
+            -511.12648562554864,
+            60.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            279.6339172243587,
+            -511.12648562554864,
+            57.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            279.6339172243587,
+            -511.12648562554864,
+            54.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            279.6339172243587,
+            -511.12648562554864,
+            51.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            279.6339172243587,
+            -511.12648562554864,
+            48.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 81,
+        "pos": [
+            279.6339172243587,
+            -511.12648562554864,
+            45.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 82,
+        "pos": [
+            279.6339172243587,
+            -511.12648562554864,
+            42.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 83,
+        "pos": [
+            279.6339172243587,
+            -511.12648562554864,
+            39.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 84,
+        "pos": [
+            279.6339172243587,
+            -511.12648562554864,
+            36.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 85,
+        "pos": [
+            279.6339172243587,
+            -511.12648562554864,
+            33.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 86,
+        "pos": [
+            279.6339172243587,
+            -511.12648562554864,
+            30.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 87,
+        "pos": [
+            279.6339172243587,
+            -511.12648562554864,
+            27.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 88,
+        "pos": [
+            279.6339172243587,
+            -511.12648562554864,
+            24.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            260.0,
+            -524.0,
+            58.9157
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_sh/astar_data/low_long_updown/2025-1-15_1-38-46_493886463/pose.jsonl

@@ -0,0 +1,1159 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            481.1324071153624,
+            -870.8925738396772,
+            24.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            481.1324071153624,
+            -870.8925738396772,
+            27.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            481.1324071153624,
+            -870.8925738396772,
+            30.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            481.1324071153624,
+            -870.8925738396772,
+            33.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            481.1324071153624,
+            -870.8925738396772,
+            36.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            481.1324071153624,
+            -870.8925738396772,
+            39.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            481.1324071153624,
+            -870.8925738396772,
+            42.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            481.1324071153624,
+            -870.8925738396772,
+            45.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            481.1324071153624,
+            -870.8925738396772,
+            48.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            481.1324071153624,
+            -870.8925738396772,
+            51.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            481.1324071153624,
+            -870.8925738396772,
+            54.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            481.1324071153624,
+            -870.8925738396772,
+            57.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            481.1324071153624,
+            -870.8925738396772,
+            60.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            481.1324071153624,
+            -870.8925738396772,
+            63.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            481.1324071153624,
+            -870.8925738396772,
+            66.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            481.1324071153624,
+            -870.8925738396772,
+            69.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            481.1324071153624,
+            -870.8925738396772,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            479.6324071153624,
+            -868.2944976283238,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            478.1324071153624,
+            -865.6964214169705,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            476.6324071153624,
+            -863.0983452056171,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            476.6324071153624,
+            -863.0983452056171,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            476.6324071153624,
+            -860.0983452056171,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            476.6324071153624,
+            -857.0983452056171,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            476.6324071153624,
+            -854.0983452056171,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            476.6324071153624,
+            -851.0983452056171,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            476.6324071153624,
+            -848.0983452056171,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            476.6324071153624,
+            -845.0983452056171,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            476.6324071153624,
+            -842.0983452056171,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            476.6324071153624,
+            -839.0983452056171,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            476.6324071153624,
+            -836.0983452056171,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            476.6324071153624,
+            -833.0983452056171,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            476.6324071153624,
+            -830.0983452056171,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            476.6324071153624,
+            -827.0983452056171,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            476.6324071153624,
+            -824.0983452056171,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            476.6324071153624,
+            -821.0983452056171,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            476.6324071153624,
+            -818.0983452056171,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            476.6324071153624,
+            -815.0983452056171,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            476.6324071153624,
+            -812.0983452056171,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            476.6324071153624,
+            -809.0983452056171,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            476.6324071153624,
+            -806.0983452056171,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            476.6324071153624,
+            -806.0983452056171,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            476.6324071153624,
+            -806.0983452056171,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            474.0343309040091,
+            -804.5983452056171,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            471.4362546926558,
+            -803.0983452056171,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            468.83817848130246,
+            -801.5983452056171,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            466.24010226994915,
+            -800.0983452056171,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            463.64202605859583,
+            -798.5983452056171,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            463.64202605859583,
+            -798.5983452056171,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            462.14202605859583,
+            -796.0002689942637,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            460.64202605859583,
+            -793.4021927829103,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            459.14202605859583,
+            -790.804116571557,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            457.64202605859583,
+            -788.2060403602036,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            456.14202605859583,
+            -785.6079641488502,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            454.64202605859583,
+            -783.0098879374968,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            453.14202605859583,
+            -780.4118117261435,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            451.64202605859583,
+            -777.8137355147901,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            450.14202605859583,
+            -775.2156593034367,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            448.64202605859583,
+            -772.6175830920834,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            447.14202605859583,
+            -770.01950688073,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            445.64202605859583,
+            -767.4214306693766,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            444.14202605859583,
+            -764.8233544580232,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            442.64202605859583,
+            -762.2252782466699,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            441.14202605859583,
+            -759.6272020353165,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            439.64202605859583,
+            -757.0291258239631,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            438.14202605859583,
+            -754.4310496126097,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            436.64202605859583,
+            -751.8329734012564,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            435.14202605859583,
+            -749.234897189903,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            433.64202605859583,
+            -746.6368209785496,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            432.14202605859583,
+            -744.0387447671962,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            430.64202605859583,
+            -741.4406685558429,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            429.14202605859583,
+            -738.8425923444895,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            427.64202605859583,
+            -736.2445161331361,
+            72.9409175171225
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            427.64202605859583,
+            -736.2445161331361,
+            69.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            427.64202605859583,
+            -736.2445161331361,
+            66.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            427.64202605859583,
+            -736.2445161331361,
+            63.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            427.64202605859583,
+            -736.2445161331361,
+            60.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            427.64202605859583,
+            -736.2445161331361,
+            57.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            427.64202605859583,
+            -736.2445161331361,
+            54.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            427.64202605859583,
+            -736.2445161331361,
+            51.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            427.64202605859583,
+            -736.2445161331361,
+            48.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            427.64202605859583,
+            -736.2445161331361,
+            45.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 81,
+        "pos": [
+            427.64202605859583,
+            -736.2445161331361,
+            42.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 82,
+        "pos": [
+            427.64202605859583,
+            -736.2445161331361,
+            39.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 83,
+        "pos": [
+            427.64202605859583,
+            -736.2445161331361,
+            36.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 84,
+        "pos": [
+            427.64202605859583,
+            -736.2445161331361,
+            33.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 85,
+        "pos": [
+            427.64202605859583,
+            -736.2445161331361,
+            30.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 86,
+        "pos": [
+            427.64202605859583,
+            -736.2445161331361,
+            27.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 87,
+        "pos": [
+            427.64202605859583,
+            -736.2445161331361,
+            24.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            416.0,
+            -712.0,
+            93.6458
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}

Image/env_airsim_sh/astar_data/low_long_updown/2025-1-15_2-27-58_1565306616/pose.jsonl

@@ -0,0 +1,1042 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            316.75383243992155,
+            1006.5219898257991,
+            24.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            316.75383243992155,
+            1006.5219898257991,
+            27.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            316.75383243992155,
+            1006.5219898257991,
+            30.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            316.75383243992155,
+            1006.5219898257991,
+            33.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            316.75383243992155,
+            1006.5219898257991,
+            36.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            316.75383243992155,
+            1006.5219898257991,
+            39.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            316.75383243992155,
+            1006.5219898257991,
+            42.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            316.75383243992155,
+            1006.5219898257991,
+            45.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            316.75383243992155,
+            1006.5219898257991,
+            48.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            316.75383243992155,
+            1006.5219898257991,
+            51.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            316.75383243992155,
+            1006.5219898257991,
+            54.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            316.75383243992155,
+            1006.5219898257991,
+            57.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            316.75383243992155,
+            1006.5219898257991,
+            60.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            316.75383243992155,
+            1006.5219898257991,
+            63.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            316.75383243992155,
+            1006.5219898257991,
+            66.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            316.75383243992155,
+            1006.5219898257991,
+            69.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            316.75383243992155,
+            1006.5219898257991,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            314.15575622856824,
+            1008.0219898257991,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            311.5576800172149,
+            1009.5219898257991,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            308.9596038058616,
+            1011.0219898257991,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            306.3615275945083,
+            1012.5219898257991,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            303.763451383155,
+            1014.0219898257991,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            301.16537517180166,
+            1015.5219898257991,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            298.56729896044834,
+            1017.0219898257991,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            298.56729896044834,
+            1017.0219898257991,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            295.56729896044834,
+            1017.0219898257991,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            292.56729896044834,
+            1017.0219898257991,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            289.56729896044834,
+            1017.0219898257991,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            286.56729896044834,
+            1017.0219898257991,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            283.56729896044834,
+            1017.0219898257991,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            280.56729896044834,
+            1017.0219898257991,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            277.56729896044834,
+            1017.0219898257991,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            274.56729896044834,
+            1017.0219898257991,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            271.56729896044834,
+            1017.0219898257991,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            268.56729896044834,
+            1017.0219898257991,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            265.56729896044834,
+            1017.0219898257991,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            262.56729896044834,
+            1017.0219898257991,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            259.56729896044834,
+            1017.0219898257991,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            256.56729896044834,
+            1017.0219898257991,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            253.56729896044834,
+            1017.0219898257991,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            250.56729896044834,
+            1017.0219898257991,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            247.56729896044834,
+            1017.0219898257991,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            244.56729896044834,
+            1017.0219898257991,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            241.56729896044834,
+            1017.0219898257991,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            238.56729896044834,
+            1017.0219898257991,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            235.56729896044834,
+            1017.0219898257991,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            232.56729896044834,
+            1017.0219898257991,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            229.56729896044834,
+            1017.0219898257991,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            226.56729896044834,
+            1017.0219898257991,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            223.56729896044834,
+            1017.0219898257991,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            220.56729896044834,
+            1017.0219898257991,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            217.56729896044834,
+            1017.0219898257991,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            214.56729896044834,
+            1017.0219898257991,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            211.56729896044834,
+            1017.0219898257991,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            208.56729896044834,
+            1017.0219898257991,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            205.56729896044834,
+            1017.0219898257991,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            202.56729896044834,
+            1017.0219898257991,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            199.56729896044834,
+            1017.0219898257991,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            196.56729896044834,
+            1017.0219898257991,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            193.56729896044834,
+            1017.0219898257991,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            190.56729896044834,
+            1017.0219898257991,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            187.56729896044834,
+            1017.0219898257991,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            184.56729896044834,
+            1017.0219898257991,
+            72.9409175171225
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            184.56729896044834,
+            1017.0219898257991,
+            69.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            184.56729896044834,
+            1017.0219898257991,
+            66.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            184.56729896044834,
+            1017.0219898257991,
+            63.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            184.56729896044834,
+            1017.0219898257991,
+            60.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            184.56729896044834,
+            1017.0219898257991,
+            57.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            184.56729896044834,
+            1017.0219898257991,
+            54.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            184.56729896044834,
+            1017.0219898257991,
+            51.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            184.56729896044834,
+            1017.0219898257991,
+            48.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            184.56729896044834,
+            1017.0219898257991,
+            45.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            184.56729896044834,
+            1017.0219898257991,
+            42.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            184.56729896044834,
+            1017.0219898257991,
+            39.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            184.56729896044834,
+            1017.0219898257991,
+            36.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            184.56729896044834,
+            1017.0219898257991,
+            33.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            184.56729896044834,
+            1017.0219898257991,
+            30.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            184.56729896044834,
+            1017.0219898257991,
+            27.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            184.56729896044834,
+            1017.0219898257991,
+            24.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            144.0,
+            1020.0,
+            145.009
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}