diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-01-19_04-05-29_916318/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-01-19_04-05-29_916318/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5a51ac39a05a4b5e2a8c99d541acf6fd3052f4f6
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-01-19_04-05-29_916318/pose.jsonl
@@ -0,0 +1,730 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1906.2076780142704,
+            690.0493163411896,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1907.7076780142704,
+            687.4512401298364,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1909.2076780142704,
+            684.853163918483,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1910.7076780142704,
+            682.2550877071296,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1912.2076780142704,
+            679.6570114957763,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1913.7076780142704,
+            677.0589352844229,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1915.2076780142704,
+            674.4608590730695,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1916.7076780142704,
+            671.8627828617161,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1918.2076780142704,
+            669.2647066503628,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1919.7076780142704,
+            666.6666304390094,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1921.2076780142704,
+            664.068554227656,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1922.7076780142704,
+            661.4704780163026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1924.2076780142704,
+            658.8724018049493,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1925.7076780142704,
+            656.2743255935959,
+            4.008504278406168
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1925.7076780142704,
+            656.2743255935959,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1927.2076780142704,
+            653.6762493822425,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1928.7076780142704,
+            651.0781731708892,
+            7.008504278406168
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1928.7076780142704,
+            651.0781731708892,
+            10.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1930.2076780142704,
+            648.4800969595358,
+            10.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1931.7076780142704,
+            645.8820207481824,
+            10.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1933.2076780142704,
+            643.283944536829,
+            10.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1934.7076780142704,
+            640.6858683254757,
+            10.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1936.2076780142704,
+            638.0877921141223,
+            10.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1937.7076780142704,
+            635.4897159027689,
+            10.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1939.2076780142704,
+            632.8916396914155,
+            10.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1940.7076780142704,
+            630.2935634800622,
+            10.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1942.2076780142704,
+            627.6954872687088,
+            10.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1943.7076780142704,
+            625.0974110573554,
+            10.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1945.2076780142704,
+            622.4993348460021,
+            10.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1946.7076780142704,
+            619.9012586346487,
+            10.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1948.2076780142704,
+            617.3031824232953,
+            10.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1949.7076780142704,
+            614.7051062119419,
+            10.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1951.2076780142704,
+            612.1070300005886,
+            10.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1952.7076780142704,
+            609.5089537892352,
+            10.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1954.2076780142704,
+            606.9108775778818,
+            10.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1955.7076780142704,
+            604.3128013665284,
+            10.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1957.2076780142704,
+            601.7147251551751,
+            10.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1958.7076780142704,
+            599.1166489438217,
+            10.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1960.2076780142704,
+            596.5185727324683,
+            10.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1961.7076780142704,
+            593.920496521115,
+            10.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1963.2076780142704,
+            591.3224203097616,
+            10.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1964.7076780142704,
+            588.7243440984082,
+            10.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1966.2076780142704,
+            586.1262678870548,
+            10.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1967.7076780142704,
+            583.5281916757015,
+            10.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1969.2076780142704,
+            580.9301154643481,
+            10.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1970.7076780142704,
+            578.3320392529947,
+            10.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1972.2076780142704,
+            575.7339630416413,
+            10.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1973.7076780142704,
+            573.135886830288,
+            10.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1975.2076780142704,
+            570.5378106189346,
+            10.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1976.7076780142704,
+            567.9397344075812,
+            10.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            1978.2076780142704,
+            565.3416581962279,
+            10.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            1979.7076780142704,
+            562.7435819848745,
+            10.008504278406168
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            1979.7076780142704,
+            562.7435819848745,
+            7.008504278406168
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            1979.7076780142704,
+            562.7435819848745,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            1981.2076780142704,
+            560.1455057735211,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1992.0,
+            540.0,
+            0.927712
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-01-19_04-35-05_617411/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-01-19_04-35-05_617411/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1590fb1cc86c208539548ccc8c13f6a953188d60
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-01-19_04-35-05_617411/pose.jsonl
@@ -0,0 +1,574 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            994.9431511784753,
+            263.9705747695177,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            997.9431511784753,
+            263.9705747695177,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1000.9431511784753,
+            263.9705747695177,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1003.9431511784753,
+            263.9705747695177,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1006.9431511784753,
+            263.9705747695177,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1009.9431511784753,
+            263.9705747695177,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1012.9431511784753,
+            263.9705747695177,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1015.9431511784753,
+            263.9705747695177,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1018.9431511784753,
+            263.9705747695177,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1021.9431511784753,
+            263.9705747695177,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1024.9431511784753,
+            263.9705747695177,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1027.9431511784753,
+            263.9705747695177,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1030.9431511784753,
+            263.9705747695177,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1033.9431511784753,
+            263.9705747695177,
+            4.008504278406168
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1033.9431511784753,
+            263.9705747695177,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1036.9431511784753,
+            263.9705747695177,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1039.9431511784753,
+            263.9705747695177,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1042.9431511784753,
+            263.9705747695177,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1045.9431511784753,
+            263.9705747695177,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1048.9431511784753,
+            263.9705747695177,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1051.9431511784753,
+            263.9705747695177,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1054.9431511784753,
+            263.9705747695177,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1057.9431511784753,
+            263.9705747695177,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1060.9431511784753,
+            263.9705747695177,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1063.9431511784753,
+            263.9705747695177,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1066.9431511784753,
+            263.9705747695177,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1069.9431511784753,
+            263.9705747695177,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1072.9431511784753,
+            263.9705747695177,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1075.9431511784753,
+            263.9705747695177,
+            7.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1075.9431511784753,
+            263.9705747695177,
+            7.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1075.9431511784753,
+            263.9705747695177,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1077.4431511784753,
+            266.56865098087104,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1078.9431511784753,
+            269.16672719222436,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1080.4431511784753,
+            271.7648034035777,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1081.9431511784753,
+            274.362879614931,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1083.4431511784753,
+            276.9609558262843,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1084.9431511784753,
+            279.5590320376376,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1086.4431511784753,
+            282.15710824899094,
+            7.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1086.4431511784753,
+            282.15710824899094,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1089.0412273898287,
+            283.65710824899094,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1091.639303601182,
+            285.15710824899094,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1094.2373798125354,
+            286.65710824899094,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1096.8354560238888,
+            288.15710824899094,
+            7.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1144.0,
+            300.0,
+            0.65896
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-01-19_05-13-48_42625/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-01-19_05-13-48_42625/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..913e29dc4f85901538417aea9f5416128f815d73
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-01-19_05-13-48_42625/pose.jsonl
@@ -0,0 +1,730 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1721.8778401465133,
+            28.545914956273208,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1724.8778401465133,
+            28.545914956273208,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1727.8778401465133,
+            28.545914956273208,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1730.8778401465133,
+            28.545914956273208,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1733.8778401465133,
+            28.545914956273208,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1733.8778401465133,
+            28.545914956273208,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1733.8778401465133,
+            28.545914956273208,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1735.3778401465133,
+            25.947838744919892,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1736.8778401465133,
+            23.349762533566576,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1738.3778401465133,
+            20.75168632221326,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1739.8778401465133,
+            18.153610110859944,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1741.3778401465133,
+            15.555533899506628,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1741.3778401465133,
+            15.555533899506628,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1743.9759163578667,
+            14.055533899506628,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1746.57399256922,
+            12.555533899506628,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1749.1720687805735,
+            11.055533899506628,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1751.7701449919268,
+            9.555533899506628,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1754.3682212032802,
+            8.055533899506628,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1756.9662974146336,
+            6.555533899506628,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1759.564373625987,
+            5.055533899506628,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1762.1624498373403,
+            3.555533899506628,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1764.7605260486937,
+            2.055533899506628,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1767.358602260047,
+            0.5555338995066281,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982893
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1769.9566784714004,
+            -0.9444661004933717,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982893
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1772.5547546827538,
+            -2.444466100493371,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982893
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1775.1528308941072,
+            -3.944466100493371,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1777.7509071054606,
+            -5.444466100493371,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1780.348983316814,
+            -6.944466100493371,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1782.9470595281673,
+            -8.44446610049337,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982892
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1785.5451357395207,
+            -9.94446610049337,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1788.143211950874,
+            -11.44446610049337,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1790.7412881622274,
+            -12.94446610049337,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1793.3393643735808,
+            -14.44446610049337,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1795.9374405849342,
+            -15.94446610049337,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1798.5355167962875,
+            -17.44446610049337,
+            4.008504278406168
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1798.5355167962875,
+            -17.44446610049337,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1801.133593007641,
+            -18.94446610049337,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1803.7316692189943,
+            -20.44446610049337,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1806.3297454303477,
+            -21.94446610049337,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1808.927821641701,
+            -23.44446610049337,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1811.5258978530544,
+            -24.94446610049337,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1814.1239740644078,
+            -26.44446610049337,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1816.7220502757611,
+            -27.94446610049337,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1819.3201264871145,
+            -29.44446610049337,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1821.918202698468,
+            -30.94446610049337,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1824.5162789098213,
+            -32.444466100493365,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982884
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1827.1143551211746,
+            -33.944466100493365,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1829.712431332528,
+            -35.444466100493365,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1832.3105075438814,
+            -36.944466100493365,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1834.9085837552348,
+            -38.444466100493365,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            1837.5066599665881,
+            -39.944466100493365,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            1840.1047361779415,
+            -41.444466100493365,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            1842.7028123892949,
+            -42.944466100493365,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            1845.3008886006482,
+            -44.444466100493365,
+            7.008504278406168
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            1845.3008886006482,
+            -44.444466100493365,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1876.0,
+            -64.0,
+            31.2239
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-01-19_05-43-33_693484/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-01-19_05-43-33_693484/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0556ded249c34e68ba5a1dd279e377fb80a9b9a1
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-01-19_05-43-33_693484/pose.jsonl
@@ -0,0 +1,769 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            42.55162933999304,
+            101.53066261529956,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            45.14970555134636,
+            103.03066261529956,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            45.14970555134636,
+            103.03066261529956,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            46.64970555134636,
+            105.62873882665288,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            48.14970555134636,
+            108.2268150380062,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            49.64970555134636,
+            110.82489124935951,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            51.14970555134636,
+            113.42296746071283,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            52.64970555134636,
+            116.02104367206614,
+            4.008504278406168
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            52.64970555134636,
+            116.02104367206614,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            54.14970555134636,
+            118.61911988341946,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            55.64970555134636,
+            121.21719609477277,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            57.14970555134636,
+            123.81527230612609,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            58.64970555134636,
+            126.4133485174794,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            60.14970555134636,
+            129.0114247288327,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965954
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            61.64970555134636,
+            131.60950094018602,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            63.14970555134636,
+            134.20757715153934,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            64.64970555134636,
+            136.80565336289266,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            66.14970555134636,
+            139.40372957424597,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            67.64970555134636,
+            142.0018057855993,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            69.14970555134636,
+            144.5998819969526,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            70.64970555134636,
+            147.19795820830592,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            72.14970555134636,
+            149.79603441965924,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            73.64970555134636,
+            152.39411063101255,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            75.14970555134636,
+            154.99218684236587,
+            7.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            75.14970555134636,
+            154.99218684236587,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            77.74778176269967,
+            156.49218684236587,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            80.34585797405299,
+            157.99218684236587,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            82.9439341854063,
+            159.49218684236587,
+            7.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            82.9439341854063,
+            159.49218684236587,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            85.9439341854063,
+            159.49218684236587,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            88.9439341854063,
+            159.49218684236587,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            91.9439341854063,
+            159.49218684236587,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            94.9439341854063,
+            159.49218684236587,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            97.9439341854063,
+            159.49218684236587,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            100.9439341854063,
+            159.49218684236587,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            103.9439341854063,
+            159.49218684236587,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            106.9439341854063,
+            159.49218684236587,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            109.9439341854063,
+            159.49218684236587,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            112.9439341854063,
+            159.49218684236587,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            115.9439341854063,
+            159.49218684236587,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            118.9439341854063,
+            159.49218684236587,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            121.9439341854063,
+            159.49218684236587,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            124.9439341854063,
+            159.49218684236587,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            127.9439341854063,
+            159.49218684236587,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            130.9439341854063,
+            159.49218684236587,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            133.9439341854063,
+            159.49218684236587,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            136.9439341854063,
+            159.49218684236587,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            139.9439341854063,
+            159.49218684236587,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            142.9439341854063,
+            159.49218684236587,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            145.9439341854063,
+            159.49218684236587,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            148.9439341854063,
+            159.49218684236587,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            151.9439341854063,
+            159.49218684236587,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            154.9439341854063,
+            159.49218684236587,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            157.9439341854063,
+            159.49218684236587,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            160.9439341854063,
+            159.49218684236587,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            163.9439341854063,
+            159.49218684236587,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            166.9439341854063,
+            159.49218684236587,
+            7.008504278406168
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            166.9439341854063,
+            159.49218684236587,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            188.0,
+            168.0,
+            23.6083
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-01-19_05-50-33_791459/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-01-19_05-50-33_791459/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..de4c66387b8a7d968ff8ff2592670ea12125e901
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-01-19_05-50-33_791459/pose.jsonl
@@ -0,0 +1,704 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            755.0239221873163,
+            95.66752553031552,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            758.0239221873163,
+            95.66752553031552,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            761.0239221873163,
+            95.66752553031552,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            761.0239221873163,
+            95.66752553031552,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            761.0239221873163,
+            95.66752553031552,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            762.5239221873163,
+            93.0694493189622,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            764.0239221873163,
+            90.47137310760888,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            765.5239221873163,
+            87.87329689625557,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            767.0239221873163,
+            85.27522068490225,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            768.5239221873163,
+            82.67714447354894,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            770.0239221873163,
+            80.07906826219562,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            771.5239221873163,
+            77.4809920508423,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            773.0239221873163,
+            74.88291583948899,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            774.5239221873163,
+            72.28483962813567,
+            4.008504278406168
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            774.5239221873163,
+            72.28483962813567,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            776.0239221873163,
+            69.68676341678236,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            777.5239221873163,
+            67.08868720542904,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            779.0239221873163,
+            64.49061099407572,
+            7.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            779.0239221873163,
+            64.49061099407572,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            779.0239221873163,
+            61.49061099407572,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            779.0239221873163,
+            58.49061099407572,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            779.0239221873163,
+            55.49061099407572,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            779.0239221873163,
+            52.49061099407572,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            779.0239221873163,
+            49.49061099407572,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            779.0239221873163,
+            46.49061099407572,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            779.0239221873163,
+            43.49061099407572,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            779.0239221873163,
+            40.49061099407572,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            779.0239221873163,
+            37.49061099407572,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            779.0239221873163,
+            34.49061099407572,
+            7.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            779.0239221873163,
+            34.49061099407572,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            780.5239221873163,
+            31.892534782722407,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            782.0239221873163,
+            29.29445857136909,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            783.5239221873163,
+            26.696382360015775,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            785.0239221873163,
+            24.09830614866246,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            786.5239221873163,
+            21.500229937309143,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            788.0239221873163,
+            18.902153725955827,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            789.5239221873163,
+            16.30407751460251,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            791.0239221873163,
+            13.706001303249195,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            792.5239221873163,
+            11.10792509189588,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            794.0239221873163,
+            8.509848880542563,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            795.5239221873163,
+            5.911772669189247,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            797.0239221873163,
+            3.313696457835931,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            798.5239221873163,
+            0.7156202464826151,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            800.0239221873163,
+            -1.8824559648707009,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            801.5239221873163,
+            -4.480532176224017,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            803.0239221873163,
+            -7.078608387577333,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            804.5239221873163,
+            -9.676684598930649,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            806.0239221873163,
+            -12.274760810283965,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            807.5239221873163,
+            -14.872837021637281,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            809.0239221873163,
+            -17.470913232990597,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            810.5239221873163,
+            -20.068989444343913,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            812.0239221873163,
+            -22.66706565569723,
+            7.008504278406168
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            812.0239221873163,
+            -22.66706565569723,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            828.0,
+            -52.0,
+            0.708504
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-01-19_05-53-22_312941/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-01-19_05-53-22_312941/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fbfe896bc0aa971f62bcd01c4c83146f1833c674
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-01-19_05-53-22_312941/pose.jsonl
@@ -0,0 +1,795 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1319.9753961626736,
+            937.9503668720952,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1318.4753961626736,
+            935.3522906607418,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1316.9753961626736,
+            932.7542144493884,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1315.4753961626736,
+            930.156138238035,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1313.9753961626736,
+            927.5580620266817,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1312.4753961626736,
+            924.9599858153283,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1310.9753961626736,
+            922.3619096039749,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1309.4753961626736,
+            919.7638333926216,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1307.9753961626736,
+            917.1657571812682,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1307.9753961626736,
+            917.1657571812682,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1305.3773199513203,
+            915.6657571812682,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1302.779243739967,
+            914.1657571812682,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1300.1811675286135,
+            912.6657571812682,
+            4.008504278406168
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1300.1811675286135,
+            912.6657571812682,
+            7.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1300.1811675286135,
+            912.6657571812682,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1298.6811675286135,
+            910.0676809699148,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1297.1811675286135,
+            907.4696047585614,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1295.6811675286135,
+            904.8715285472081,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1294.1811675286135,
+            902.2734523358547,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1292.6811675286135,
+            899.6753761245013,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1291.1811675286135,
+            897.077299913148,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1289.6811675286135,
+            894.4792237017946,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1288.1811675286135,
+            891.8811474904412,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1286.6811675286135,
+            889.2830712790878,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1285.1811675286135,
+            886.6849950677345,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1283.6811675286135,
+            884.0869188563811,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1282.1811675286135,
+            881.4888426450277,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1280.6811675286135,
+            878.8907664336743,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1279.1811675286135,
+            876.292690222321,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1277.6811675286135,
+            873.6946140109676,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1276.1811675286135,
+            871.0965377996142,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1274.6811675286135,
+            868.4984615882609,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1273.1811675286135,
+            865.9003853769075,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1271.6811675286135,
+            863.3023091655541,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1270.1811675286135,
+            860.7042329542007,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1268.6811675286135,
+            858.1061567428474,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1267.1811675286135,
+            855.508080531494,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1265.6811675286135,
+            852.9100043201406,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1264.1811675286135,
+            850.3119281087872,
+            7.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1264.1811675286135,
+            850.3119281087872,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1264.1811675286135,
+            847.3119281087872,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1264.1811675286135,
+            844.3119281087872,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1264.1811675286135,
+            841.3119281087872,
+            7.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1264.1811675286135,
+            841.3119281087872,
+            7.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1264.1811675286135,
+            841.3119281087872,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1261.5830913172601,
+            839.8119281087872,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1258.9850151059068,
+            838.3119281087872,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1256.3869388945534,
+            836.8119281087872,
+            7.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1256.3869388945534,
+            836.8119281087872,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1253.3869388945534,
+            836.8119281087872,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            1250.3869388945534,
+            836.8119281087872,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            1247.3869388945534,
+            836.8119281087872,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            1244.3869388945534,
+            836.8119281087872,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            1241.3869388945534,
+            836.8119281087872,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            1238.3869388945534,
+            836.8119281087872,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            1235.3869388945534,
+            836.8119281087872,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            1232.3869388945534,
+            836.8119281087872,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            1229.3869388945534,
+            836.8119281087872,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            1226.3869388945534,
+            836.8119281087872,
+            7.008504278406168
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            1226.3869388945534,
+            836.8119281087872,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1208.0,
+            820.0,
+            17.114
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-01-19_05-54-48_537296/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-01-19_05-54-48_537296/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..37989100f90d1ef5d484125fef73c552acc0f39f
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-01-19_05-54-48_537296/pose.jsonl
@@ -0,0 +1,652 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1850.2925135509963,
+            513.7309440239586,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1848.7925135509963,
+            516.3290202353119,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1848.7925135509963,
+            516.3290202353119,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1846.194437339643,
+            517.8290202353119,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1843.5963611282896,
+            519.3290202353119,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1840.9982849169362,
+            520.8290202353119,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1838.4002087055828,
+            522.3290202353119,
+            4.008504278406168
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1838.4002087055828,
+            522.3290202353119,
+            7.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1838.4002087055828,
+            522.3290202353119,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1836.9002087055828,
+            524.9270964466652,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1835.4002087055828,
+            527.5251726580186,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1833.9002087055828,
+            530.123248869372,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1832.4002087055828,
+            532.7213250807254,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1830.9002087055828,
+            535.3194012920787,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1829.4002087055828,
+            537.9174775034321,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1827.9002087055828,
+            540.5155537147855,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1826.4002087055828,
+            543.1136299261389,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1824.9002087055828,
+            545.7117061374922,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1823.4002087055828,
+            548.3097823488456,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1821.9002087055828,
+            550.907858560199,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1820.4002087055828,
+            553.5059347715523,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1818.9002087055828,
+            556.1040109829057,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1817.4002087055828,
+            558.7020871942591,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1815.9002087055828,
+            561.3001634056125,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1814.4002087055828,
+            563.8982396169658,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1812.9002087055828,
+            566.4963158283192,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1811.4002087055828,
+            569.0943920396726,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1809.9002087055828,
+            571.692468251026,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1808.4002087055828,
+            574.2905444623793,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1806.9002087055828,
+            576.8886206737327,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1805.4002087055828,
+            579.4866968850861,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1803.9002087055828,
+            582.0847730964394,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1802.4002087055828,
+            584.6828493077928,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1800.9002087055828,
+            587.2809255191462,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1799.4002087055828,
+            589.8790017304996,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1797.9002087055828,
+            592.4770779418529,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1796.4002087055828,
+            595.0751541532063,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1794.9002087055828,
+            597.6732303645597,
+            7.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1794.9002087055828,
+            597.6732303645597,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1792.3021324942295,
+            599.1732303645597,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1789.704056282876,
+            600.6732303645597,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1787.1059800715227,
+            602.1732303645597,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1784.5079038601693,
+            603.6732303645597,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1781.909827648816,
+            605.1732303645597,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1779.3117514374626,
+            606.6732303645597,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1776.7136752261092,
+            608.1732303645597,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1774.1155990147558,
+            609.6732303645597,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1771.5175228034025,
+            611.1732303645597,
+            7.008504278406168
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1771.5175228034025,
+            611.1732303645597,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1752.0,
+            640.0,
+            -0.375381
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-01-19_05-56-00_960878/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-01-19_05-56-00_960878/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3bc294ab6466870a7edde656df41277af6aa98cb
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-01-19_05-56-00_960878/pose.jsonl
@@ -0,0 +1,496 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            958.7928752886339,
+            943.929251637884,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            956.1947990772805,
+            945.429251637884,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            953.5967228659272,
+            946.929251637884,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            950.9986466545738,
+            948.429251637884,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            950.9986466545738,
+            948.429251637884,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            949.4986466545738,
+            951.0273278492373,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            947.9986466545738,
+            953.6254040605907,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            946.4986466545738,
+            956.223480271944,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            944.9986466545738,
+            958.8215564832974,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            943.4986466545738,
+            961.4196326946508,
+            4.008504278406168
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            943.4986466545738,
+            961.4196326946508,
+            7.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            943.4986466545738,
+            961.4196326946508,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            943.4986466545738,
+            964.4196326946508,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            943.4986466545738,
+            967.4196326946508,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            943.4986466545738,
+            970.4196326946508,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            943.4986466545738,
+            973.4196326946508,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            943.4986466545738,
+            976.4196326946508,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            943.4986466545738,
+            979.4196326946508,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            943.4986466545738,
+            982.4196326946508,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            943.4986466545738,
+            985.4196326946508,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            943.4986466545738,
+            988.4196326946508,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            943.4986466545738,
+            991.4196326946508,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            943.4986466545738,
+            994.4196326946508,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            943.4986466545738,
+            997.4196326946508,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            943.4986466545738,
+            1000.4196326946508,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            943.4986466545738,
+            1003.4196326946508,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            943.4986466545738,
+            1006.4196326946508,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            943.4986466545738,
+            1009.4196326946508,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            943.4986466545738,
+            1012.4196326946508,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            943.4986466545738,
+            1015.4196326946508,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            943.4986466545738,
+            1018.4196326946508,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            943.4986466545738,
+            1021.4196326946508,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            943.4986466545738,
+            1024.4196326946508,
+            7.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            943.4986466545738,
+            1024.4196326946508,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            944.9986466545738,
+            1027.0177089060041,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            946.4986466545738,
+            1029.6157851173575,
+            7.008504278406168
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            946.4986466545738,
+            1029.6157851173575,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            940.0,
+            1100.0,
+            0.524277
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-01-19_05-59-48_520263/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-01-19_05-59-48_520263/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9f7e021918068996e5ffbc7090d92794f9ac44a3
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-01-19_05-59-48_520263/pose.jsonl
@@ -0,0 +1,639 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1764.7569230026825,
+            -121.51837073945444,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1766.2569230026825,
+            -118.92029452810112,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1767.7569230026825,
+            -116.32221831674781,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1769.2569230026825,
+            -113.72414210539449,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1770.7569230026825,
+            -111.12606589404118,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1772.2569230026825,
+            -108.52798968268786,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1773.7569230026825,
+            -105.92991347133454,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1775.2569230026825,
+            -103.33183725998123,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1776.7569230026825,
+            -100.73376104862791,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1778.2569230026825,
+            -98.1356848372746,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1779.7569230026825,
+            -95.53760862592128,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1781.2569230026825,
+            -92.93953241456796,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1782.7569230026825,
+            -90.34145620321465,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1784.2569230026825,
+            -87.74337999186133,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1785.7569230026825,
+            -85.14530378050802,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1787.2569230026825,
+            -82.5472275691547,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1788.7569230026825,
+            -79.94915135780138,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1790.2569230026825,
+            -77.35107514644807,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1791.7569230026825,
+            -74.75299893509475,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1793.2569230026825,
+            -72.15492272374144,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1794.7569230026825,
+            -69.55684651238812,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1796.2569230026825,
+            -66.9587703010348,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1797.7569230026825,
+            -64.36069408968149,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1799.2569230026825,
+            -61.76261787832817,
+            4.008504278406168
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1799.2569230026825,
+            -61.76261787832817,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1800.7569230026825,
+            -59.164541666974856,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1802.2569230026825,
+            -56.56646545562154,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1803.7569230026825,
+            -53.968389244268224,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1805.2569230026825,
+            -51.37031303291491,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1806.7569230026825,
+            -48.77223682156159,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1808.2569230026825,
+            -46.174160610208276,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1809.7569230026825,
+            -43.57608439885496,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1811.2569230026825,
+            -40.97800818750164,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1812.7569230026825,
+            -38.37993197614833,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1814.2569230026825,
+            -35.78185576479501,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1815.7569230026825,
+            -33.183779553441695,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1817.2569230026825,
+            -30.58570334208838,
+            7.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1817.2569230026825,
+            -30.58570334208838,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1817.2569230026825,
+            -27.58570334208838,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1817.2569230026825,
+            -24.58570334208838,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1817.2569230026825,
+            -21.58570334208838,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1817.2569230026825,
+            -18.58570334208838,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1817.2569230026825,
+            -15.58570334208838,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1817.2569230026825,
+            -12.58570334208838,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1817.2569230026825,
+            -9.58570334208838,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1817.2569230026825,
+            -6.5857033420883795,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1817.2569230026825,
+            -3.5857033420883795,
+            7.008504278406168
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1817.2569230026825,
+            -3.5857033420883795,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1828.0,
+            20.0,
+            28.504
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-01-19_06-15-08_147511/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-01-19_06-15-08_147511/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c3fb28470259d446301b2915c6e7838aa8424658
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-01-19_06-15-08_147511/pose.jsonl
@@ -0,0 +1,639 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            696.219903781386,
+            327.7416474204207,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            696.219903781386,
+            330.7416474204207,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            696.219903781386,
+            333.7416474204207,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            696.219903781386,
+            336.7416474204207,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            696.219903781386,
+            339.7416474204207,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            696.219903781386,
+            342.7416474204207,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            696.219903781386,
+            345.7416474204207,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            696.219903781386,
+            348.7416474204207,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            696.219903781386,
+            351.7416474204207,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            696.219903781386,
+            354.7416474204207,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            696.219903781386,
+            357.7416474204207,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            696.219903781386,
+            360.7416474204207,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            696.219903781386,
+            363.7416474204207,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            696.219903781386,
+            366.7416474204207,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            696.219903781386,
+            369.7416474204207,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            696.219903781386,
+            372.7416474204207,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            696.219903781386,
+            375.7416474204207,
+            4.008504278406168
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            696.219903781386,
+            375.7416474204207,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            696.219903781386,
+            378.7416474204207,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            696.219903781386,
+            381.7416474204207,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            696.219903781386,
+            384.7416474204207,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            696.219903781386,
+            387.7416474204207,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            696.219903781386,
+            390.7416474204207,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            696.219903781386,
+            393.7416474204207,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            696.219903781386,
+            396.7416474204207,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            696.219903781386,
+            399.7416474204207,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            696.219903781386,
+            402.7416474204207,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            696.219903781386,
+            405.7416474204207,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            696.219903781386,
+            408.7416474204207,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            696.219903781386,
+            411.7416474204207,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            696.219903781386,
+            414.7416474204207,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            696.219903781386,
+            417.7416474204207,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            696.219903781386,
+            420.7416474204207,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            696.219903781386,
+            423.7416474204207,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            696.219903781386,
+            426.7416474204207,
+            7.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            696.219903781386,
+            426.7416474204207,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            697.719903781386,
+            429.339723631774,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            699.219903781386,
+            431.9377998431273,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            700.719903781386,
+            434.53587605448064,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            702.219903781386,
+            437.13395226583395,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            703.719903781386,
+            439.73202847718727,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            705.219903781386,
+            442.3301046885406,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            706.719903781386,
+            444.9281808998939,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            708.219903781386,
+            447.5262571112472,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            709.719903781386,
+            450.12433332260053,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            711.219903781386,
+            452.72240953395385,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            712.719903781386,
+            455.32048574530717,
+            7.008504278406168
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            712.719903781386,
+            455.32048574530717,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            716.0,
+            484.0,
+            -10.4721
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-01-19_06-26-42_347589/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-01-19_06-26-42_347589/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a39d653d681157830d375b42db9779595c0c340b
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-01-19_06-26-42_347589/pose.jsonl
@@ -0,0 +1,743 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -74.6601727262721,
+            -218.94539012322275,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -74.6601727262721,
+            -221.94539012322275,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -74.6601727262721,
+            -224.94539012322275,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -74.6601727262721,
+            -227.94539012322275,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -74.6601727262721,
+            -230.94539012322275,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -74.6601727262721,
+            -233.94539012322275,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -74.6601727262721,
+            -236.94539012322275,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -74.6601727262721,
+            -239.94539012322275,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -74.6601727262721,
+            -242.94539012322275,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -74.6601727262721,
+            -245.94539012322275,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -74.6601727262721,
+            -248.94539012322275,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -74.6601727262721,
+            -251.94539012322275,
+            4.008504278406168
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -74.6601727262721,
+            -251.94539012322275,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -74.6601727262721,
+            -254.94539012322275,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -74.6601727262721,
+            -257.94539012322275,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -74.6601727262721,
+            -260.94539012322275,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -74.6601727262721,
+            -263.94539012322275,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -74.6601727262721,
+            -266.94539012322275,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -74.6601727262721,
+            -269.94539012322275,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -74.6601727262721,
+            -272.94539012322275,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -74.6601727262721,
+            -275.94539012322275,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -74.6601727262721,
+            -278.94539012322275,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -74.6601727262721,
+            -281.94539012322275,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -74.6601727262721,
+            -284.94539012322275,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -74.6601727262721,
+            -287.94539012322275,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -74.6601727262721,
+            -290.94539012322275,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -74.6601727262721,
+            -293.94539012322275,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -74.6601727262721,
+            -296.94539012322275,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -74.6601727262721,
+            -299.94539012322275,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -74.6601727262721,
+            -302.94539012322275,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -74.6601727262721,
+            -305.94539012322275,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -74.6601727262721,
+            -308.94539012322275,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -74.6601727262721,
+            -311.94539012322275,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -74.6601727262721,
+            -314.94539012322275,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -74.6601727262721,
+            -317.94539012322275,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -74.6601727262721,
+            -320.94539012322275,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -74.6601727262721,
+            -323.94539012322275,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -74.6601727262721,
+            -326.94539012322275,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -74.6601727262721,
+            -329.94539012322275,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -74.6601727262721,
+            -332.94539012322275,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -74.6601727262721,
+            -335.94539012322275,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -74.6601727262721,
+            -338.94539012322275,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -74.6601727262721,
+            -341.94539012322275,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -74.6601727262721,
+            -344.94539012322275,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -74.6601727262721,
+            -347.94539012322275,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -74.6601727262721,
+            -350.94539012322275,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -74.6601727262721,
+            -353.94539012322275,
+            7.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -74.6601727262721,
+            -353.94539012322275,
+            7.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -74.6601727262721,
+            -353.94539012322275,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -77.25824893762541,
+            -355.44539012322275,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -79.85632514897873,
+            -356.94539012322275,
+            7.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -79.85632514897873,
+            -356.94539012322275,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -81.35632514897873,
+            -359.54346633457607,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -82.85632514897873,
+            -362.1415425459294,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -84.35632514897873,
+            -364.7396187572827,
+            7.008504278406168
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -84.35632514897873,
+            -364.7396187572827,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -88.0,
+            -380.0,
+            -1.13129
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-01-19_06-30-09_122868/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-01-19_06-30-09_122868/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..630c369eb60188fa4a8465ed59a699418c71d60d
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-01-19_06-30-09_122868/pose.jsonl
@@ -0,0 +1,509 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1509.7168720882867,
+            657.1965781730736,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1508.2168720882867,
+            659.7946543844268,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1506.7168720882867,
+            662.3927305957802,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1505.2168720882867,
+            664.9908068071336,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1503.7168720882867,
+            667.588883018487,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1502.2168720882867,
+            670.1869592298403,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1500.7168720882867,
+            672.7850354411937,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1499.2168720882867,
+            675.3831116525471,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1497.7168720882867,
+            677.9811878639005,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1496.2168720882867,
+            680.5792640752538,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1494.7168720882867,
+            683.1773402866072,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1493.2168720882867,
+            685.7754164979606,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1491.7168720882867,
+            688.373492709314,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1490.2168720882867,
+            690.9715689206673,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1488.7168720882867,
+            693.5696451320207,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1487.2168720882867,
+            696.1677213433741,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1485.7168720882867,
+            698.7657975547274,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1484.2168720882867,
+            701.3638737660808,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1484.2168720882867,
+            701.3638737660808,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1484.2168720882867,
+            704.3638737660808,
+            4.008504278406168
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1484.2168720882867,
+            704.3638737660808,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1484.2168720882867,
+            707.3638737660808,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1484.2168720882867,
+            710.3638737660808,
+            7.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1484.2168720882867,
+            710.3638737660808,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1482.7168720882867,
+            712.9619499774342,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1481.2168720882867,
+            715.5600261887876,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1479.7168720882867,
+            718.1581024001409,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1478.2168720882867,
+            720.7561786114943,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1476.7168720882867,
+            723.3542548228477,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1475.2168720882867,
+            725.952331034201,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1473.7168720882867,
+            728.5504072455544,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1472.2168720882867,
+            731.1484834569078,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1470.7168720882867,
+            733.7465596682612,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1469.2168720882867,
+            736.3446358796145,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1467.7168720882867,
+            738.9427120909679,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1466.2168720882867,
+            741.5407883023213,
+            7.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1464.7168720882867,
+            744.1388645136747,
+            7.008504278406168
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1464.7168720882867,
+            744.1388645136747,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1432.0,
+            808.0,
+            102.413
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_20-10-19_1350490027/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_20-10-19_1350490027/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..291cd4173a956e37cd0803bc4f15a1b529ce8919
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_20-10-19_1350490027/pose.jsonl
@@ -0,0 +1,561 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            977.4196141964562,
+            926.892474129888,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            977.4196141964562,
+            929.892474129888,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            977.4196141964562,
+            932.892474129888,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            977.4196141964562,
+            935.892474129888,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            977.4196141964562,
+            938.892474129888,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            977.4196141964562,
+            941.892474129888,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            977.4196141964562,
+            944.892474129888,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            977.4196141964562,
+            947.892474129888,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            977.4196141964562,
+            950.892474129888,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            977.4196141964562,
+            953.892474129888,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            977.4196141964562,
+            956.892474129888,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            977.4196141964562,
+            959.892474129888,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            977.4196141964562,
+            962.892474129888,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            977.4196141964562,
+            965.892474129888,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            977.4196141964562,
+            968.892474129888,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            977.4196141964562,
+            971.892474129888,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            977.4196141964562,
+            974.892474129888,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            977.4196141964562,
+            977.892474129888,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            977.4196141964562,
+            980.892474129888,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            977.4196141964562,
+            983.892474129888,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            977.4196141964562,
+            986.892474129888,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            977.4196141964562,
+            989.892474129888,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            977.4196141964562,
+            992.892474129888,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            977.4196141964562,
+            995.892474129888,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            977.4196141964562,
+            998.892474129888,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            977.4196141964562,
+            1001.892474129888,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            977.4196141964562,
+            1004.892474129888,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            977.4196141964562,
+            1007.892474129888,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            977.4196141964562,
+            1010.892474129888,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            977.4196141964562,
+            1010.892474129888,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            977.4196141964562,
+            1010.892474129888,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            974.8215379851029,
+            1012.392474129888,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            972.2234617737495,
+            1013.892474129888,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            969.6253855623961,
+            1015.392474129888,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            967.0273093510427,
+            1016.892474129888,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            964.4292331396894,
+            1018.392474129888,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            964.4292331396894,
+            1018.392474129888,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            962.9292331396894,
+            1020.9905503412413,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            961.4292331396894,
+            1023.5886265525946,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            959.9292331396894,
+            1026.186702763948,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            958.4292331396894,
+            1028.7847789753014,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            956.9292331396894,
+            1031.3828551866548,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            940.0,
+            1100.0,
+            0.524277
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_20-13-30_1303455736/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_20-13-30_1303455736/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f48c9e69dfbb8806715c5ec7629212c3dc1c63a9
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_20-13-30_1303455736/pose.jsonl
@@ -0,0 +1,769 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1010.9050048499075,
+            241.59178454195504,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1012.4050048499075,
+            244.18986075330835,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1013.9050048499075,
+            246.78793696466167,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1015.4050048499075,
+            249.38601317601498,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1016.9050048499075,
+            251.9840893873683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1018.4050048499075,
+            254.58216559872162,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1019.9050048499075,
+            257.1802418100749,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196593
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1021.4050048499075,
+            259.7783180214282,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1022.9050048499075,
+            262.37639423278154,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1024.4050048499075,
+            264.97447044413485,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1025.9050048499075,
+            267.57254665548817,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1027.4050048499075,
+            270.1706228668415,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1028.9050048499075,
+            272.7686990781948,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1028.9050048499075,
+            272.7686990781948,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1028.9050048499075,
+            275.7686990781948,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1028.9050048499075,
+            278.7686990781948,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1028.9050048499075,
+            281.7686990781948,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1028.9050048499075,
+            284.7686990781948,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1028.9050048499075,
+            287.7686990781948,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1028.9050048499075,
+            290.7686990781948,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1028.9050048499075,
+            293.7686990781948,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1028.9050048499075,
+            296.7686990781948,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1028.9050048499075,
+            299.7686990781948,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1028.9050048499075,
+            302.7686990781948,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1028.9050048499075,
+            305.7686990781948,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1028.9050048499075,
+            308.7686990781948,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1028.9050048499075,
+            311.7686990781948,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1028.9050048499075,
+            314.7686990781948,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1028.9050048499075,
+            317.7686990781948,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1028.9050048499075,
+            320.7686990781948,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1028.9050048499075,
+            323.7686990781948,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1028.9050048499075,
+            323.7686990781948,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1028.9050048499075,
+            323.7686990781948,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982989
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1031.503081061261,
+            325.2686990781948,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1034.1011572726143,
+            326.7686990781948,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1036.6992334839676,
+            328.2686990781948,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1039.297309695321,
+            329.7686990781948,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1041.8953859066744,
+            331.2686990781948,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1044.4934621180278,
+            332.7686990781948,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1047.0915383293811,
+            334.2686990781948,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1049.6896145407345,
+            335.7686990781948,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1052.2876907520879,
+            337.2686990781948,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1054.8857669634413,
+            338.7686990781948,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1057.4838431747946,
+            340.2686990781948,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1057.4838431747946,
+            340.2686990781948,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1058.9838431747946,
+            342.8667752895481,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1060.4838431747946,
+            345.46485150090143,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1061.9838431747946,
+            348.06292771225475,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1063.4838431747946,
+            350.66100392360806,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1064.9838431747946,
+            353.2590801349614,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            1066.4838431747946,
+            355.8571563463147,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            1067.9838431747946,
+            358.455232557668,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            1069.4838431747946,
+            361.0533087690213,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            1070.9838431747946,
+            363.65138498037464,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            1072.4838431747946,
+            366.24946119172796,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            1073.9838431747946,
+            368.8475374030813,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            1075.4838431747946,
+            371.4456136144346,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            1076.9838431747946,
+            374.0436898257879,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1092.0,
+            400.0,
+            -7.75826
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_20-33-7_1937477084/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_20-33-7_1937477084/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..287a3352a3d5ba404ff991a3f022ff1a18ef3dc0
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_20-33-7_1937477084/pose.jsonl
@@ -0,0 +1,483 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1007.4289214924355,
+            235.0442349057035,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1010.4289214924355,
+            235.0442349057035,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1013.4289214924355,
+            235.0442349057035,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1016.4289214924355,
+            235.0442349057035,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1019.4289214924355,
+            235.0442349057035,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1019.4289214924355,
+            235.0442349057035,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1022.0269977037888,
+            236.5442349057035,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1024.6250739151421,
+            238.0442349057035,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1027.2231501264955,
+            239.5442349057035,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1029.8212263378489,
+            241.0442349057035,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1032.4193025492023,
+            242.5442349057035,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1035.0173787605556,
+            244.0442349057035,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1037.615454971909,
+            245.5442349057035,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1040.2135311832624,
+            247.0442349057035,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1042.8116073946157,
+            248.5442349057035,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1045.4096836059691,
+            250.0442349057035,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1048.0077598173225,
+            251.5442349057035,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1050.6058360286759,
+            253.0442349057035,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1053.2039122400292,
+            254.5442349057035,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1055.8019884513826,
+            256.0442349057035,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1058.400064662736,
+            257.5442349057035,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1060.9981408740894,
+            259.0442349057035,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1063.5962170854427,
+            260.5442349057035,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1066.194293296796,
+            262.0442349057035,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1068.7923695081495,
+            263.5442349057035,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1071.3904457195028,
+            265.0442349057035,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1073.9885219308562,
+            266.5442349057035,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1076.5865981422096,
+            268.0442349057035,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1079.184674353563,
+            269.5442349057035,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1081.7827505649163,
+            271.0442349057035,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1084.3808267762697,
+            272.5442349057035,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1086.978902987623,
+            274.0442349057035,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1089.5769791989765,
+            275.5442349057035,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1092.1750554103298,
+            277.0442349057035,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1092.1750554103298,
+            277.0442349057035,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -9.43689570931383e-15
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1095.1750554103298,
+            277.0442349057035,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -9.43689570931383e-15
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1144.0,
+            300.0,
+            0.65896
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_20-34-56_805750846/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_20-34-56_805750846/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..51869ffa7d22e00e33e801738b1e626337a41b31
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_20-34-56_805750846/pose.jsonl
@@ -0,0 +1,743 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1179.4620378418088,
+            207.52327324609803,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1180.9620378418088,
+            204.9251970347447,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1182.4620378418088,
+            202.3271208233914,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1183.9620378418088,
+            199.72904461203808,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1185.4620378418088,
+            197.13096840068476,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1186.9620378418088,
+            194.53289218933145,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1188.4620378418088,
+            191.93481597797813,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1189.9620378418088,
+            189.33673976662482,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1191.4620378418088,
+            186.7386635552715,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1192.9620378418088,
+            184.14058734391818,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1194.4620378418088,
+            181.54251113256487,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1195.9620378418088,
+            178.94443492121155,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1197.4620378418088,
+            176.34635870985824,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1198.9620378418088,
+            173.74828249850492,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1200.4620378418088,
+            171.1502062871516,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1201.9620378418088,
+            168.5521300757983,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1203.4620378418088,
+            165.95405386444497,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1204.9620378418088,
+            163.35597765309166,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1206.4620378418088,
+            160.75790144173834,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1207.9620378418088,
+            158.15982523038502,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1209.4620378418088,
+            155.5617490190317,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1210.9620378418088,
+            152.9636728076784,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1212.4620378418088,
+            150.36559659632508,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1213.9620378418088,
+            147.76752038497176,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1215.4620378418088,
+            145.16944417361844,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1216.9620378418088,
+            142.57136796226513,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1218.4620378418088,
+            139.9732917509118,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1219.9620378418088,
+            137.3752155395585,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1221.4620378418088,
+            134.77713932820518,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1222.9620378418088,
+            132.17906311685186,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1224.4620378418088,
+            129.58098690549855,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1225.9620378418088,
+            126.98291069414523,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1227.4620378418088,
+            124.38483448279192,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1228.9620378418088,
+            121.7867582714386,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1230.4620378418088,
+            119.18868206008528,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1230.4620378418088,
+            119.18868206008528,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1233.0601140531621,
+            117.68868206008528,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1235.6581902645155,
+            116.18868206008528,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1238.2562664758689,
+            114.68868206008528,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1240.8543426872222,
+            113.18868206008528,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1243.4524188985756,
+            111.68868206008528,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1243.4524188985756,
+            111.68868206008528,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 9.43689570931383e-15
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1246.4524188985756,
+            111.68868206008528,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1249.4524188985756,
+            111.68868206008528,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1252.4524188985756,
+            111.68868206008528,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1255.4524188985756,
+            111.68868206008528,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1258.4524188985756,
+            111.68868206008528,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1261.4524188985756,
+            111.68868206008528,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1264.4524188985756,
+            111.68868206008528,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1267.4524188985756,
+            111.68868206008528,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            1270.4524188985756,
+            111.68868206008528,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            1273.4524188985756,
+            111.68868206008528,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            1276.4524188985756,
+            111.68868206008528,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            1279.4524188985756,
+            111.68868206008528,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            1282.4524188985756,
+            111.68868206008528,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            1285.4524188985756,
+            111.68868206008528,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1308.0,
+            96.0,
+            1.05541
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_20-42-1_945117276/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_20-42-1_945117276/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c8d15ff9335d8be09478a6c53b780885c2ba9da8
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_20-42-1_945117276/pose.jsonl
@@ -0,0 +1,743 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            740.8057445656748,
+            -97.07598749577198,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            740.8057445656748,
+            -94.07598749577198,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            740.8057445656748,
+            -91.07598749577198,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            740.8057445656748,
+            -88.07598749577198,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            740.8057445656748,
+            -85.07598749577198,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            740.8057445656748,
+            -82.07598749577198,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            740.8057445656748,
+            -79.07598749577198,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            740.8057445656748,
+            -76.07598749577198,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            740.8057445656748,
+            -76.07598749577198,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            740.8057445656748,
+            -76.07598749577198,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            738.2076683543214,
+            -74.57598749577198,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            735.609592142968,
+            -73.07598749577198,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            733.0115159316147,
+            -71.57598749577198,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            733.0115159316147,
+            -71.57598749577198,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            731.5115159316147,
+            -68.97791128441867,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            730.0115159316147,
+            -66.37983507306535,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            730.0115159316147,
+            -66.37983507306535,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            730.0115159316147,
+            -63.37983507306535,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            730.0115159316147,
+            -60.37983507306535,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            730.0115159316147,
+            -57.37983507306535,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            730.0115159316147,
+            -54.37983507306535,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            730.0115159316147,
+            -51.37983507306535,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            730.0115159316147,
+            -48.37983507306535,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            730.0115159316147,
+            -45.37983507306535,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            730.0115159316147,
+            -42.37983507306535,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            730.0115159316147,
+            -39.37983507306535,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            730.0115159316147,
+            -36.37983507306535,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            730.0115159316147,
+            -33.37983507306535,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            730.0115159316147,
+            -30.37983507306535,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            730.0115159316147,
+            -27.37983507306535,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            730.0115159316147,
+            -24.37983507306535,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            730.0115159316147,
+            -21.37983507306535,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            730.0115159316147,
+            -18.37983507306535,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            730.0115159316147,
+            -15.379835073065351,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            730.0115159316147,
+            -12.379835073065351,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            730.0115159316147,
+            -9.379835073065351,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            730.0115159316147,
+            -6.379835073065351,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            730.0115159316147,
+            -3.379835073065351,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            730.0115159316147,
+            -0.379835073065351,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            730.0115159316147,
+            2.620164926934649,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            730.0115159316147,
+            5.620164926934649,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            730.0115159316147,
+            8.620164926934649,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            730.0115159316147,
+            11.620164926934649,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            730.0115159316147,
+            14.620164926934649,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            730.0115159316147,
+            17.62016492693465,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            730.0115159316147,
+            20.62016492693465,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            730.0115159316147,
+            23.62016492693465,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            730.0115159316147,
+            26.62016492693465,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            730.0115159316147,
+            29.62016492693465,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            730.0115159316147,
+            29.62016492693465,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            731.5115159316147,
+            32.218241138287965,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            733.0115159316147,
+            34.81631734964128,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            734.5115159316147,
+            37.4143935609946,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            736.0115159316147,
+            40.01246977234791,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            737.5115159316147,
+            42.61054598370123,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            739.0115159316147,
+            45.208622195054545,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            740.0,
+            68.0,
+            34.5123
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_20-45-35_2053999932/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_20-45-35_2053999932/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7db272018b9efaa2b501860c44b5326530e14ea7
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_20-45-35_2053999932/pose.jsonl
@@ -0,0 +1,600 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1877.1508568749132,
+            271.38963238987026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1874.5527806635598,
+            269.88963238987026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1871.9547044522064,
+            268.38963238987026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1869.356628240853,
+            266.88963238987026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1866.7585520294997,
+            265.38963238987026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1864.1604758181463,
+            263.88963238987026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1861.562399606793,
+            262.38963238987026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1858.9643233954396,
+            260.88963238987026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1856.3662471840862,
+            259.38963238987026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1853.7681709727328,
+            257.88963238987026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1851.1700947613795,
+            256.38963238987026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1848.572018550026,
+            254.88963238987026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1845.9739423386727,
+            253.38963238987026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1843.3758661273193,
+            251.88963238987026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1840.777789915966,
+            250.38963238987026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1838.1797137046126,
+            248.88963238987026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1835.5816374932592,
+            247.38963238987026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1832.9835612819058,
+            245.88963238987026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1830.3854850705525,
+            244.38963238987026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1827.787408859199,
+            242.88963238987026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1825.1893326478457,
+            241.38963238987026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1822.5912564364924,
+            239.88963238987026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1819.993180225139,
+            238.38963238987026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1817.3951040137856,
+            236.88963238987026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1814.7970278024322,
+            235.38963238987026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1812.1989515910789,
+            233.88963238987026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1809.6008753797255,
+            232.38963238987026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1807.0027991683721,
+            230.88963238987026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1804.4047229570187,
+            229.38963238987026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1801.8066467456654,
+            227.88963238987026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1799.208570534312,
+            226.38963238987026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1796.6104943229586,
+            224.88963238987026,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1796.6104943229586,
+            224.88963238987026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1795.1104943229586,
+            222.29155617851694,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1793.6104943229586,
+            219.69347996716363,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1792.1104943229586,
+            217.0954037558103,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1790.6104943229586,
+            214.497327544457,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1789.1104943229586,
+            211.89925133310368,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1787.6104943229586,
+            209.30117512175036,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1786.1104943229586,
+            206.70309891039705,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1784.6104943229586,
+            204.10502269904373,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1783.1104943229586,
+            201.5069464876904,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1781.6104943229586,
+            198.9088702763371,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1780.1104943229586,
+            196.31079406498378,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1778.6104943229586,
+            193.71271785363047,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1752.0,
+            172.0,
+            0.929306
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_20-48-7_855636226/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_20-48-7_855636226/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fde2f648b036f93f1da49d9b18f3b908f6622eaf
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_20-48-7_855636226/pose.jsonl
@@ -0,0 +1,782 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            860.6733849742668,
+            338.6930948158097,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            858.0753087629134,
+            337.1930948158097,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            855.4772325515601,
+            335.6930948158097,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            852.8791563402067,
+            334.1930948158097,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            850.2810801288533,
+            332.6930948158097,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            850.2810801288533,
+            332.6930948158097,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            847.2810801288533,
+            332.6930948158097,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            844.2810801288533,
+            332.6930948158097,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            841.2810801288533,
+            332.6930948158097,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            838.2810801288533,
+            332.6930948158097,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            835.2810801288533,
+            332.6930948158097,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            832.2810801288533,
+            332.6930948158097,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            829.2810801288533,
+            332.6930948158097,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            826.2810801288533,
+            332.6930948158097,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            823.2810801288533,
+            332.6930948158097,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            820.2810801288533,
+            332.6930948158097,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            817.2810801288533,
+            332.6930948158097,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            814.2810801288533,
+            332.6930948158097,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            811.2810801288533,
+            332.6930948158097,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            808.2810801288533,
+            332.6930948158097,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            805.2810801288533,
+            332.6930948158097,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            802.2810801288533,
+            332.6930948158097,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            799.2810801288533,
+            332.6930948158097,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            796.2810801288533,
+            332.6930948158097,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            793.2810801288533,
+            332.6930948158097,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            790.2810801288533,
+            332.6930948158097,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            787.2810801288533,
+            332.6930948158097,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            784.2810801288533,
+            332.6930948158097,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            781.2810801288533,
+            332.6930948158097,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            778.2810801288533,
+            332.6930948158097,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            775.2810801288533,
+            332.6930948158097,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            772.2810801288533,
+            332.6930948158097,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            769.2810801288533,
+            332.6930948158097,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            766.2810801288533,
+            332.6930948158097,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            763.2810801288533,
+            332.6930948158097,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            760.2810801288533,
+            332.6930948158097,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            757.2810801288533,
+            332.6930948158097,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            754.2810801288533,
+            332.6930948158097,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            751.2810801288533,
+            332.6930948158097,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            748.2810801288533,
+            332.6930948158097,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            745.2810801288533,
+            332.6930948158097,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            745.2810801288533,
+            332.6930948158097,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            745.2810801288533,
+            332.6930948158097,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 4.1887902047863905
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            743.7810801288533,
+            330.09501860445636,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            742.2810801288533,
+            327.49694239310304,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            740.7810801288533,
+            324.8988661817497,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            739.2810801288533,
+            322.3007899703964,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            737.7810801288533,
+            319.7027137590431,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            736.2810801288533,
+            317.1046375476898,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            734.7810801288533,
+            314.50656133633646,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            733.2810801288533,
+            311.90848512498314,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            731.7810801288533,
+            309.31040891362983,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            730.2810801288533,
+            306.7123327022765,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            728.7810801288533,
+            304.1142564909232,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            727.2810801288533,
+            301.5161802795699,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            725.7810801288533,
+            298.91810406821656,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            724.2810801288533,
+            296.32002785686325,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            722.7810801288533,
+            293.72195164550993,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            721.2810801288533,
+            291.1238754341566,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            696.0,
+            284.0,
+            -0.375038
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_20-8-6_719885386/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_20-8-6_719885386/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a4b4a18907823df1538b3e687cce143bcdf634fb
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_20-8-6_719885386/pose.jsonl
@@ -0,0 +1,704 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1534.6490160622004,
+            -116.51287163586667,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1534.6490160622004,
+            -119.51287163586667,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1534.6490160622004,
+            -122.51287163586667,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1534.6490160622004,
+            -125.51287163586667,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1534.6490160622004,
+            -128.51287163586667,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1534.6490160622004,
+            -131.51287163586667,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1534.6490160622004,
+            -134.51287163586667,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1534.6490160622004,
+            -137.51287163586667,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1534.6490160622004,
+            -140.51287163586667,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1534.6490160622004,
+            -143.51287163586667,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1534.6490160622004,
+            -143.51287163586667,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1533.1490160622004,
+            -146.11094784722,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1531.6490160622004,
+            -148.7090240585733,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1531.6490160622004,
+            -148.7090240585733,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1529.050939850847,
+            -150.2090240585733,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1529.050939850847,
+            -150.2090240585733,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1529.050939850847,
+            -150.2090240585733,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.570796326794906
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1529.050939850847,
+            -153.2090240585733,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1529.050939850847,
+            -156.2090240585733,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1529.050939850847,
+            -159.2090240585733,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1529.050939850847,
+            -162.2090240585733,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1529.050939850847,
+            -165.2090240585733,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1529.050939850847,
+            -168.2090240585733,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1529.050939850847,
+            -171.2090240585733,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1529.050939850847,
+            -174.2090240585733,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1529.050939850847,
+            -177.2090240585733,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1529.050939850847,
+            -180.2090240585733,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1529.050939850847,
+            -183.2090240585733,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1529.050939850847,
+            -186.2090240585733,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1529.050939850847,
+            -189.2090240585733,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1529.050939850847,
+            -192.2090240585733,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1529.050939850847,
+            -192.2090240585733,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1529.050939850847,
+            -192.2090240585733,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982989
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1531.6490160622004,
+            -193.7090240585733,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1534.2470922735538,
+            -195.2090240585733,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1536.8451684849072,
+            -196.7090240585733,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1539.4432446962605,
+            -198.2090240585733,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1539.4432446962605,
+            -198.2090240585733,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1540.9432446962605,
+            -200.80710026992662,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1542.4432446962605,
+            -203.40517648127994,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1543.9432446962605,
+            -206.00325269263325,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1545.4432446962605,
+            -208.60132890398657,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1546.9432446962605,
+            -211.19940511533989,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1548.4432446962605,
+            -213.7974813266932,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1549.9432446962605,
+            -216.39555753804652,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1551.4432446962605,
+            -218.99363374939983,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1552.9432446962605,
+            -221.59170996075315,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1554.4432446962605,
+            -224.18978617210647,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1555.9432446962605,
+            -226.78786238345978,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1557.4432446962605,
+            -229.3859385948131,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            1557.4432446962605,
+            -229.3859385948131,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            1557.4432446962605,
+            -232.3859385948131,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            1557.4432446962605,
+            -235.3859385948131,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1564.0,
+            -268.0,
+            -6.14624
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_21-19-5_990892921/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_21-19-5_990892921/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8358d1384fc8bd6a4793b8de916806c4c0e29868
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_21-19-5_990892921/pose.jsonl
@@ -0,0 +1,665 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1813.8970438985252,
+            48.97761132607195,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1815.3970438985252,
+            51.57568753742527,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1816.8970438985252,
+            54.17376374877858,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1818.3970438985252,
+            56.7718399601319,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1818.3970438985252,
+            56.7718399601319,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1820.9951201098786,
+            58.2718399601319,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1823.593196321232,
+            59.7718399601319,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1826.1912725325853,
+            61.2718399601319,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1828.7893487439387,
+            62.7718399601319,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1831.387424955292,
+            64.2718399601319,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1833.9855011666455,
+            65.7718399601319,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1836.5835773779988,
+            67.2718399601319,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1839.1816535893522,
+            68.7718399601319,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1841.7797298007056,
+            70.2718399601319,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1844.377806012059,
+            71.7718399601319,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1846.9758822234123,
+            73.2718399601319,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1849.5739584347657,
+            74.7718399601319,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1852.172034646119,
+            76.2718399601319,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1854.7701108574724,
+            77.7718399601319,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1857.3681870688258,
+            79.2718399601319,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1859.9662632801792,
+            80.7718399601319,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1862.5643394915326,
+            82.2718399601319,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1865.162415702886,
+            83.7718399601319,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1867.7604919142393,
+            85.2718399601319,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1870.3585681255927,
+            86.7718399601319,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1872.956644336946,
+            88.2718399601319,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1875.5547205482994,
+            89.7718399601319,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1878.1527967596528,
+            91.2718399601319,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1880.7508729710062,
+            92.7718399601319,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1883.3489491823595,
+            94.2718399601319,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1885.947025393713,
+            95.7718399601319,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1888.5451016050663,
+            97.2718399601319,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1891.1431778164197,
+            98.7718399601319,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1893.741254027773,
+            100.2718399601319,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1896.3393302391264,
+            101.7718399601319,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1898.9374064504798,
+            103.2718399601319,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1901.5354826618332,
+            104.7718399601319,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1904.1335588731865,
+            106.2718399601319,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1906.73163508454,
+            107.7718399601319,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1909.3297112958933,
+            109.2718399601319,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1911.9277875072466,
+            110.7718399601319,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1914.5258637186,
+            112.2718399601319,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1917.1239399299534,
+            113.7718399601319,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1919.7220161413068,
+            115.2718399601319,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1922.3200923526601,
+            116.7718399601319,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1924.9181685640135,
+            118.2718399601319,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1927.5162447753669,
+            119.7718399601319,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1927.5162447753669,
+            119.7718399601319,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -9.43689570931383e-15
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1930.5162447753669,
+            119.7718399601319,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1933.5162447753669,
+            119.7718399601319,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1952.0,
+            128.0,
+            -8.00905
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_21-25-36_1982275856/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_21-25-36_1982275856/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6683c8804b4e016a6d53aacb098f590283b42794
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_21-25-36_1982275856/pose.jsonl
@@ -0,0 +1,730 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            2.132519112683113,
+            -423.79320576514885,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -0.4655570986702031,
+            -422.29320576514885,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -3.063633310023519,
+            -420.79320576514885,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -5.661709521376835,
+            -419.29320576514885,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -8.259785732730151,
+            -417.79320576514885,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -10.857861944083467,
+            -416.29320576514885,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -13.455938155436783,
+            -414.79320576514885,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -16.0540143667901,
+            -413.29320576514885,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -18.652090578143415,
+            -411.79320576514885,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -21.25016678949673,
+            -410.29320576514885,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -23.848243000850047,
+            -408.79320576514885,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -23.848243000850047,
+            -408.79320576514885,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -25.348243000850047,
+            -406.19512955379554,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -26.848243000850047,
+            -403.5970533424422,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -28.348243000850047,
+            -400.9989771310889,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -29.848243000850047,
+            -398.4009009197356,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -31.348243000850047,
+            -395.8028247083823,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -32.84824300085005,
+            -393.20474849702896,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -34.34824300085005,
+            -390.60667228567564,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -35.84824300085005,
+            -388.0085960743223,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -37.34824300085005,
+            -385.410519862969,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -38.84824300085005,
+            -382.8124436516157,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -40.34824300085005,
+            -380.2143674402624,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -41.84824300085005,
+            -377.61629122890906,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -43.34824300085005,
+            -375.01821501755575,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -44.84824300085005,
+            -372.42013880620243,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -46.34824300085005,
+            -369.8220625948491,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -47.84824300085005,
+            -367.2239863834958,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -49.34824300085005,
+            -364.6259101721425,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -50.84824300085005,
+            -362.02783396078917,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -52.34824300085005,
+            -359.42975774943585,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -53.84824300085005,
+            -356.83168153808253,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -55.34824300085005,
+            -354.2336053267292,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -56.84824300085005,
+            -351.6355291153759,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -58.34824300085005,
+            -349.0374529040226,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -59.84824300085005,
+            -346.43937669266927,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -61.34824300085005,
+            -343.84130048131595,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -62.84824300085005,
+            -341.24322426996264,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -64.34824300085005,
+            -338.6451480586093,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -65.84824300085005,
+            -336.047071847256,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -67.34824300085005,
+            -333.4489956359027,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -68.84824300085005,
+            -330.8509194245494,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -70.34824300085005,
+            -328.25284321319606,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -70.34824300085005,
+            -328.25284321319606,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -70.34824300085005,
+            -325.25284321319606,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -70.34824300085005,
+            -322.25284321319606,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -70.34824300085005,
+            -319.25284321319606,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -70.34824300085005,
+            -316.25284321319606,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -70.34824300085005,
+            -313.25284321319606,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -70.34824300085005,
+            -310.25284321319606,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -70.34824300085005,
+            -307.25284321319606,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -70.34824300085005,
+            -304.25284321319606,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -70.34824300085005,
+            -301.25284321319606,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -70.34824300085005,
+            -298.25284321319606,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -70.34824300085005,
+            -295.25284321319606,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -84.0,
+            -268.0,
+            -1.1313
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_21-30-5_971899228/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_21-30-5_971899228/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3719a42ceb0148b59d4d3696c75119ed8b74b4f2
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_21-30-5_971899228/pose.jsonl
@@ -0,0 +1,613 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            278.7015002200731,
+            176.14860104810785,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            281.7015002200731,
+            176.14860104810785,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            284.7015002200731,
+            176.14860104810785,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            287.7015002200731,
+            176.14860104810785,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            290.7015002200731,
+            176.14860104810785,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            293.7015002200731,
+            176.14860104810785,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            296.7015002200731,
+            176.14860104810785,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            299.7015002200731,
+            176.14860104810785,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            302.7015002200731,
+            176.14860104810785,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            305.7015002200731,
+            176.14860104810785,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            308.7015002200731,
+            176.14860104810785,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            311.7015002200731,
+            176.14860104810785,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            314.7015002200731,
+            176.14860104810785,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            317.7015002200731,
+            176.14860104810785,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            320.7015002200731,
+            176.14860104810785,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            323.7015002200731,
+            176.14860104810785,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            326.7015002200731,
+            176.14860104810785,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            329.7015002200731,
+            176.14860104810785,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            332.7015002200731,
+            176.14860104810785,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            335.7015002200731,
+            176.14860104810785,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            335.7015002200731,
+            176.14860104810785,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            338.29957643142643,
+            177.64860104810785,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            340.89765264277975,
+            179.14860104810785,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            343.49572885413306,
+            180.64860104810785,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            346.0938050654864,
+            182.14860104810785,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            348.6918812768397,
+            183.64860104810785,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            348.6918812768397,
+            183.64860104810785,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            351.6918812768397,
+            183.64860104810785,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            354.6918812768397,
+            183.64860104810785,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            357.6918812768397,
+            183.64860104810785,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            360.6918812768397,
+            183.64860104810785,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            363.6918812768397,
+            183.64860104810785,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            366.6918812768397,
+            183.64860104810785,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            369.6918812768397,
+            183.64860104810785,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            372.6918812768397,
+            183.64860104810785,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            375.6918812768397,
+            183.64860104810785,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            378.6918812768397,
+            183.64860104810785,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            381.6918812768397,
+            183.64860104810785,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            384.6918812768397,
+            183.64860104810785,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            387.6918812768397,
+            183.64860104810785,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            390.6918812768397,
+            183.64860104810785,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            390.6918812768397,
+            183.64860104810785,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            393.289957488193,
+            182.14860104810785,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            395.8880336995463,
+            180.64860104810785,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            398.48610991089964,
+            179.14860104810785,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            401.08418612225296,
+            177.64860104810785,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            448.0,
+            176.0,
+            -0.420975
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_21-31-46_1626276121/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_21-31-46_1626276121/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b0b91f0bbb77a4812c558a09c1157644bd6fb61f
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_21-31-46_1626276121/pose.jsonl
@@ -0,0 +1,704 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            760.4630664780392,
+            -14.074457068210364,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            761.9630664780392,
+            -16.67253327956368,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            763.4630664780392,
+            -19.270609490916996,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            764.9630664780392,
+            -21.868685702270312,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            766.4630664780392,
+            -24.46676191362363,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            767.9630664780392,
+            -27.064838124976944,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            769.4630664780392,
+            -29.66291433633026,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            769.4630664780392,
+            -29.66291433633026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            772.0611426893925,
+            -31.16291433633026,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            772.0611426893925,
+            -31.16291433633026,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            772.0611426893925,
+            -31.16291433633026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            772.0611426893925,
+            -34.16291433633026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            772.0611426893925,
+            -37.16291433633026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            772.0611426893925,
+            -40.16291433633026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            772.0611426893925,
+            -43.16291433633026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            772.0611426893925,
+            -46.16291433633026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            772.0611426893925,
+            -49.16291433633026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            772.0611426893925,
+            -52.16291433633026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            772.0611426893925,
+            -55.16291433633026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            772.0611426893925,
+            -58.16291433633026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            772.0611426893925,
+            -61.16291433633026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            772.0611426893925,
+            -64.16291433633026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            772.0611426893925,
+            -67.16291433633026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            772.0611426893925,
+            -70.16291433633026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            772.0611426893925,
+            -73.16291433633026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            772.0611426893925,
+            -76.16291433633026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            772.0611426893925,
+            -79.16291433633026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            772.0611426893925,
+            -82.16291433633026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            772.0611426893925,
+            -85.16291433633026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            772.0611426893925,
+            -88.16291433633026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            772.0611426893925,
+            -91.16291433633026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            772.0611426893925,
+            -94.16291433633026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            772.0611426893925,
+            -97.16291433633026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            772.0611426893925,
+            -100.16291433633026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            772.0611426893925,
+            -103.16291433633026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            772.0611426893925,
+            -106.16291433633026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            772.0611426893925,
+            -109.16291433633026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            772.0611426893925,
+            -112.16291433633026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            772.0611426893925,
+            -115.16291433633026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            772.0611426893925,
+            -118.16291433633026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            772.0611426893925,
+            -121.16291433633026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            772.0611426893925,
+            -124.16291433633026,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            772.0611426893925,
+            -124.16291433633026,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            773.5611426893925,
+            -126.76099054768358,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            775.0611426893925,
+            -129.3590667590369,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            776.5611426893925,
+            -131.9571429703902,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            778.0611426893925,
+            -134.55521918174352,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            779.5611426893925,
+            -137.15329539309684,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            781.0611426893925,
+            -139.75137160445016,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            782.5611426893925,
+            -142.34944781580347,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            784.0611426893925,
+            -144.9475240271568,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            785.5611426893925,
+            -147.5456002385101,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            787.0611426893925,
+            -150.14367644986342,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            792.0,
+            -168.0,
+            -3.30387
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_22-22-53_1953443376/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_22-22-53_1953443376/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b531e73481c7ccd451666f45106c228e01466976
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_22-22-53_1953443376/pose.jsonl
@@ -0,0 +1,665 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            768.466221837541,
+            -17.346477922302626,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            768.466221837541,
+            -20.346477922302626,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            768.466221837541,
+            -23.346477922302626,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            768.466221837541,
+            -23.346477922302626,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            769.966221837541,
+            -25.94455413365594,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            771.466221837541,
+            -28.542630345009258,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            772.966221837541,
+            -31.140706556362574,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            774.466221837541,
+            -33.73878276771589,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            775.966221837541,
+            -36.336858979069206,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            775.966221837541,
+            -36.336858979069206,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            775.966221837541,
+            -39.336858979069206,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            775.966221837541,
+            -42.336858979069206,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            775.966221837541,
+            -45.336858979069206,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            775.966221837541,
+            -48.336858979069206,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            775.966221837541,
+            -51.336858979069206,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            775.966221837541,
+            -54.336858979069206,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            775.966221837541,
+            -57.336858979069206,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            775.966221837541,
+            -60.336858979069206,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            775.966221837541,
+            -63.336858979069206,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            775.966221837541,
+            -66.3368589790692,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            775.966221837541,
+            -69.3368589790692,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            775.966221837541,
+            -72.3368589790692,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            775.966221837541,
+            -75.3368589790692,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            775.966221837541,
+            -78.3368589790692,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            775.966221837541,
+            -81.3368589790692,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            775.966221837541,
+            -84.3368589790692,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            775.966221837541,
+            -87.3368589790692,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            775.966221837541,
+            -90.3368589790692,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            775.966221837541,
+            -93.3368589790692,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            775.966221837541,
+            -96.3368589790692,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            775.966221837541,
+            -99.3368589790692,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            775.966221837541,
+            -102.3368589790692,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            775.966221837541,
+            -105.3368589790692,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            775.966221837541,
+            -108.3368589790692,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            775.966221837541,
+            -111.3368589790692,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            775.966221837541,
+            -114.3368589790692,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            775.966221837541,
+            -117.3368589790692,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            775.966221837541,
+            -120.3368589790692,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            775.966221837541,
+            -123.3368589790692,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            775.966221837541,
+            -126.3368589790692,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            775.966221837541,
+            -129.3368589790692,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            775.966221837541,
+            -129.3368589790692,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            777.466221837541,
+            -131.93493519042252,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            778.966221837541,
+            -134.53301140177584,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            780.466221837541,
+            -137.13108761312915,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            781.966221837541,
+            -139.72916382448247,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            783.466221837541,
+            -142.32724003583579,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            784.966221837541,
+            -144.9253162471891,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            786.466221837541,
+            -147.52339245854242,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            787.966221837541,
+            -150.12146866989573,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            792.0,
+            -168.0,
+            -3.30387
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_22-28-44_995706887/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_22-28-44_995706887/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..37b15ee83cb5a5b12eb9a346e7b1fe9643003fbc
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_22-28-44_995706887/pose.jsonl
@@ -0,0 +1,691 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1188.723962865658,
+            774.884384841415,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1191.723962865658,
+            774.884384841415,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1194.723962865658,
+            774.884384841415,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1197.723962865658,
+            774.884384841415,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1200.723962865658,
+            774.884384841415,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1200.723962865658,
+            774.884384841415,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1200.723962865658,
+            774.884384841415,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1202.223962865658,
+            777.4824610527683,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1202.223962865658,
+            777.4824610527683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982895
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1204.8220390770114,
+            778.9824610527683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1207.4201152883647,
+            780.4824610527683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1210.0181914997181,
+            781.9824610527683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1212.6162677110715,
+            783.4824610527683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1215.2143439224249,
+            784.9824610527683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1217.8124201337782,
+            786.4824610527683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1220.4104963451316,
+            787.9824610527683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1223.008572556485,
+            789.4824610527683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1225.6066487678384,
+            790.9824610527683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1228.2047249791917,
+            792.4824610527683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1230.802801190545,
+            793.9824610527683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1233.4008774018985,
+            795.4824610527683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1235.9989536132518,
+            796.9824610527683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1238.5970298246052,
+            798.4824610527683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1241.1951060359586,
+            799.9824610527683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1243.793182247312,
+            801.4824610527683,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1243.793182247312,
+            801.4824610527683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1245.293182247312,
+            804.0805372641216,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1246.793182247312,
+            806.678613475475,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1248.293182247312,
+            809.2766896868284,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1249.793182247312,
+            811.8747658981817,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1251.293182247312,
+            814.4728421095351,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1252.793182247312,
+            817.0709183208885,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1254.293182247312,
+            819.6689945322419,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1255.793182247312,
+            822.2670707435952,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1257.293182247312,
+            824.8651469549486,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1258.793182247312,
+            827.463223166302,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1260.293182247312,
+            830.0612993776554,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1261.793182247312,
+            832.6593755890087,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1263.293182247312,
+            835.2574518003621,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1264.793182247312,
+            837.8555280117155,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1266.293182247312,
+            840.4536042230689,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1267.793182247312,
+            843.0516804344222,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1269.293182247312,
+            845.6497566457756,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1270.793182247312,
+            848.247832857129,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1272.293182247312,
+            850.8459090684823,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1273.793182247312,
+            853.4439852798357,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1273.793182247312,
+            853.4439852798357,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1273.793182247312,
+            856.4439852798357,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1273.793182247312,
+            859.4439852798357,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1273.793182247312,
+            862.4439852798357,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            1273.793182247312,
+            865.4439852798357,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            1273.793182247312,
+            868.4439852798357,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1296.0,
+            896.0,
+            0.734581
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_22-45-8_711645630/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_22-45-8_711645630/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1598d75208e553adbef5fef56b32e226f79a4dcd
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_22-45-8_711645630/pose.jsonl
@@ -0,0 +1,457 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            976.1348330941057,
+            938.1819972954186,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            976.1348330941057,
+            941.1819972954186,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            976.1348330941057,
+            944.1819972954186,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            976.1348330941057,
+            947.1819972954186,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            976.1348330941057,
+            950.1819972954186,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            976.1348330941057,
+            953.1819972954186,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            976.1348330941057,
+            956.1819972954186,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            976.1348330941057,
+            959.1819972954186,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            976.1348330941057,
+            962.1819972954186,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            976.1348330941057,
+            965.1819972954186,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            976.1348330941057,
+            968.1819972954186,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            976.1348330941057,
+            971.1819972954186,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            976.1348330941057,
+            974.1819972954186,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            976.1348330941057,
+            977.1819972954186,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            976.1348330941057,
+            980.1819972954186,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            976.1348330941057,
+            983.1819972954186,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            976.1348330941057,
+            986.1819972954186,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            976.1348330941057,
+            989.1819972954186,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            976.1348330941057,
+            992.1819972954186,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            976.1348330941057,
+            995.1819972954186,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            976.1348330941057,
+            995.1819972954186,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            974.6348330941057,
+            997.7800735067719,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            973.1348330941057,
+            1000.3781497181253,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            971.6348330941057,
+            1002.9762259294787,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            970.1348330941057,
+            1005.5743021408321,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            968.6348330941057,
+            1008.1723783521854,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            967.1348330941057,
+            1010.7704545635388,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            965.6348330941057,
+            1013.3685307748922,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            964.1348330941057,
+            1015.9666069862456,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            962.6348330941057,
+            1018.5646831975989,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            961.1348330941057,
+            1021.1627594089523,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            959.6348330941057,
+            1023.7608356203057,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            958.1348330941057,
+            1026.358911831659,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            956.6348330941057,
+            1028.9569880430124,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            940.0,
+            1100.0,
+            0.524277
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_22-8-27_201305624/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_22-8-27_201305624/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b5c1e00b5b419ee79dcf299678977e78bf1d8fbb
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_22-8-27_201305624/pose.jsonl
@@ -0,0 +1,782 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            442.1487141204701,
+            336.2553460881587,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            440.6487141204701,
+            338.85342229951203,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            439.1487141204701,
+            341.45149851086535,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            437.6487141204701,
+            344.04957472221867,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            436.1487141204701,
+            346.647650933572,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            434.6487141204701,
+            349.2457271449253,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            433.1487141204701,
+            351.8438033562786,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            433.1487141204701,
+            351.8438033562786,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            430.5506379091168,
+            353.3438033562786,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            427.9525616977635,
+            354.8438033562786,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            425.35448548641017,
+            356.3438033562786,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            422.75640927505685,
+            357.8438033562786,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            420.15833306370354,
+            359.3438033562786,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            417.5602568523502,
+            360.8438033562786,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            414.9621806409969,
+            362.3438033562786,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            412.3641044296436,
+            363.8438033562786,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            409.7660282182903,
+            365.3438033562786,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            407.16795200693696,
+            366.8438033562786,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            404.56987579558364,
+            368.3438033562786,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            401.9717995842303,
+            369.8438033562786,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            399.373723372877,
+            371.3438033562786,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            399.373723372877,
+            371.3438033562786,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            396.373723372877,
+            371.3438033562786,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            393.373723372877,
+            371.3438033562786,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            393.373723372877,
+            371.3438033562786,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            393.373723372877,
+            371.3438033562786,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            391.873723372877,
+            373.94187956763193,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            390.373723372877,
+            376.53995577898525,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            388.873723372877,
+            379.13803199033856,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            387.373723372877,
+            381.7361082016919,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            385.873723372877,
+            384.3341844130452,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            384.373723372877,
+            386.9322606243985,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            382.873723372877,
+            389.5303368357518,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            381.373723372877,
+            392.12841304710514,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            379.873723372877,
+            394.72648925845846,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            378.373723372877,
+            397.3245654698118,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            376.873723372877,
+            399.9226416811651,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            375.373723372877,
+            402.5207178925184,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            373.873723372877,
+            405.1187941038717,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            372.373723372877,
+            407.71687031522504,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            370.873723372877,
+            410.31494652657835,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            369.373723372877,
+            412.91302273793167,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            367.873723372877,
+            415.511098949285,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            366.373723372877,
+            418.1091751606383,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            364.873723372877,
+            420.7072513719916,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            363.373723372877,
+            423.30532758334493,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            361.873723372877,
+            425.90340379469825,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            360.373723372877,
+            428.50148000605157,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            360.373723372877,
+            428.50148000605157,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            360.373723372877,
+            431.50148000605157,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            360.373723372877,
+            434.50148000605157,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            360.373723372877,
+            437.50148000605157,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            360.373723372877,
+            440.50148000605157,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            360.373723372877,
+            443.50148000605157,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            360.373723372877,
+            446.50148000605157,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            360.373723372877,
+            449.50148000605157,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            360.373723372877,
+            452.50148000605157,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            360.373723372877,
+            455.50148000605157,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            360.373723372877,
+            458.50148000605157,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            344.0,
+            484.0,
+            -1.13109
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_23-10-50_1277849958/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_23-10-50_1277849958/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5e517d30d022f1e90684c94fd4c7ccd4a47d0193
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_23-10-50_1277849958/pose.jsonl
@@ -0,0 +1,639 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1696.6840852910675,
+            850.1038229400554,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1699.6840852910675,
+            850.1038229400554,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1702.6840852910675,
+            850.1038229400554,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1705.6840852910675,
+            850.1038229400554,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1708.6840852910675,
+            850.1038229400554,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1711.6840852910675,
+            850.1038229400554,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1714.6840852910675,
+            850.1038229400554,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1717.6840852910675,
+            850.1038229400554,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1720.6840852910675,
+            850.1038229400554,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1723.6840852910675,
+            850.1038229400554,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1726.6840852910675,
+            850.1038229400554,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1729.6840852910675,
+            850.1038229400554,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1732.6840852910675,
+            850.1038229400554,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1735.6840852910675,
+            850.1038229400554,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1738.6840852910675,
+            850.1038229400554,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1741.6840852910675,
+            850.1038229400554,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1744.6840852910675,
+            850.1038229400554,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1747.6840852910675,
+            850.1038229400554,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1750.6840852910675,
+            850.1038229400554,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1753.6840852910675,
+            850.1038229400554,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1756.6840852910675,
+            850.1038229400554,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1759.6840852910675,
+            850.1038229400554,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1762.6840852910675,
+            850.1038229400554,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1765.6840852910675,
+            850.1038229400554,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1768.6840852910675,
+            850.1038229400554,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1771.6840852910675,
+            850.1038229400554,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1774.6840852910675,
+            850.1038229400554,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1777.6840852910675,
+            850.1038229400554,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1780.6840852910675,
+            850.1038229400554,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1783.6840852910675,
+            850.1038229400554,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1786.6840852910675,
+            850.1038229400554,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1789.6840852910675,
+            850.1038229400554,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1792.6840852910675,
+            850.1038229400554,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1795.6840852910675,
+            850.1038229400554,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1798.6840852910675,
+            850.1038229400554,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1801.6840852910675,
+            850.1038229400554,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1804.6840852910675,
+            850.1038229400554,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1807.6840852910675,
+            850.1038229400554,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1810.6840852910675,
+            850.1038229400554,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1813.6840852910675,
+            850.1038229400554,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1816.6840852910675,
+            850.1038229400554,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1816.6840852910675,
+            850.1038229400554,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1816.6840852910675,
+            850.1038229400554,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1818.1840852910675,
+            847.505746728702,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1819.6840852910675,
+            844.9076705173486,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1819.6840852910675,
+            844.9076705173486,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1822.2821615024209,
+            843.4076705173486,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1824.8802377137742,
+            841.9076705173486,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1856.0,
+            840.0,
+            -10.4725
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_23-23-9_1750003033/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_23-23-9_1750003033/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..849b47893bfdc53a664ad42f1ec85a2e33f17332
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_23-23-9_1750003033/pose.jsonl
@@ -0,0 +1,626 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -92.17402195540672,
+            197.96060452201786,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -90.67402195540672,
+            200.55868073337118,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -90.67402195540672,
+            200.55868073337118,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -90.67402195540672,
+            203.55868073337118,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -90.67402195540672,
+            206.55868073337118,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -90.67402195540672,
+            209.55868073337118,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -90.67402195540672,
+            212.55868073337118,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -90.67402195540672,
+            215.55868073337118,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -90.67402195540672,
+            218.55868073337118,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -90.67402195540672,
+            221.55868073337118,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -90.67402195540672,
+            224.55868073337118,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -90.67402195540672,
+            227.55868073337118,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -90.67402195540672,
+            230.55868073337118,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -90.67402195540672,
+            233.55868073337118,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -90.67402195540672,
+            236.55868073337118,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -90.67402195540672,
+            239.55868073337118,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -90.67402195540672,
+            239.55868073337118,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -89.17402195540672,
+            242.1567569447245,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -87.67402195540672,
+            244.7548331560778,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -86.17402195540672,
+            247.35290936743112,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -84.67402195540672,
+            249.95098557878444,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -83.17402195540672,
+            252.54906179013776,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -81.67402195540672,
+            255.14713800149107,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -80.17402195540672,
+            257.7452142128444,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966025
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -78.67402195540672,
+            260.34329042419773,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -77.17402195540672,
+            262.94136663555105,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -75.67402195540672,
+            265.53944284690436,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -74.17402195540672,
+            268.1375190582577,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -72.67402195540672,
+            270.735595269611,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -71.17402195540672,
+            273.3336714809643,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -69.67402195540672,
+            275.93174769231763,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -68.17402195540672,
+            278.52982390367094,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -66.67402195540672,
+            281.12790011502426,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -65.17402195540672,
+            283.7259763263776,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -63.674021955406715,
+            286.3240525377309,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -62.174021955406715,
+            288.9221287490842,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -60.674021955406715,
+            291.5202049604375,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -59.174021955406715,
+            294.11828117179084,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -57.674021955406715,
+            296.71635738314416,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -56.174021955406715,
+            299.3144335944975,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -54.674021955406715,
+            301.9125098058508,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -53.174021955406715,
+            304.5105860172041,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -51.674021955406715,
+            307.1086622285574,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -50.174021955406715,
+            309.70673843991074,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -48.674021955406715,
+            312.30481465126405,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -47.174021955406715,
+            314.90289086261737,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -45.674021955406715,
+            317.5009670739707,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -36.0,
+            344.0,
+            63.6789
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_23-3-1_201690613/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_23-3-1_201690613/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4a0dc10477dec64cf645a34e302d7a4e975e1134
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_23-3-1_201690613/pose.jsonl
@@ -0,0 +1,652 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1759.3472433899985,
+            663.7840678721963,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1760.8472433899985,
+            661.185991660843,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1762.3472433899985,
+            658.5879154494896,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1763.8472433899985,
+            655.9898392381363,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1763.8472433899985,
+            655.9898392381363,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1766.445319601352,
+            654.4898392381363,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1769.0433958127053,
+            652.9898392381363,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1771.6414720240587,
+            651.4898392381363,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1774.239548235412,
+            649.9898392381363,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1776.8376244467654,
+            648.4898392381363,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1779.4357006581188,
+            646.9898392381363,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1782.0337768694721,
+            645.4898392381363,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1784.6318530808255,
+            643.9898392381363,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1787.229929292179,
+            642.4898392381363,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1789.8280055035323,
+            640.9898392381363,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1789.8280055035323,
+            640.9898392381363,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1791.3280055035323,
+            638.3917630267829,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1792.8280055035323,
+            635.7936868154295,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1794.3280055035323,
+            633.1956106040761,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1795.8280055035323,
+            630.5975343927228,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1797.3280055035323,
+            627.9994581813694,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1798.8280055035323,
+            625.401381970016,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1800.3280055035323,
+            622.8033057586626,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1801.8280055035323,
+            620.2052295473093,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1803.3280055035323,
+            617.6071533359559,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1804.8280055035323,
+            615.0090771246025,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1806.3280055035323,
+            612.4110009132492,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1807.8280055035323,
+            609.8129247018958,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1809.3280055035323,
+            607.2148484905424,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1810.8280055035323,
+            604.616772279189,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1812.3280055035323,
+            602.0186960678357,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1813.8280055035323,
+            599.4206198564823,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1815.3280055035323,
+            596.8225436451289,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1816.8280055035323,
+            594.2244674337755,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1818.3280055035323,
+            591.6263912224222,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1819.8280055035323,
+            589.0283150110688,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1821.3280055035323,
+            586.4302387997154,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1822.8280055035323,
+            583.832162588362,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1824.3280055035323,
+            581.2340863770087,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1825.8280055035323,
+            578.6360101656553,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1827.3280055035323,
+            576.0379339543019,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1828.8280055035323,
+            573.4398577429486,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1830.3280055035323,
+            570.8417815315952,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1831.8280055035323,
+            568.2437053202418,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1831.8280055035323,
+            568.2437053202418,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1834.4260817148856,
+            566.7437053202418,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1837.024157926239,
+            565.2437053202418,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1839.6222341375924,
+            563.7437053202418,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1842.2203103489458,
+            562.2437053202418,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1860.0,
+            540.0,
+            0.167524
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_23-39-57_1473144500/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_23-39-57_1473144500/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..86e4d83bbeac502c8723e7dbb204ae349a05e6f8
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_23-39-57_1473144500/pose.jsonl
@@ -0,0 +1,704 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1919.4590106466667,
+            73.41496676439488,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1916.8609344353133,
+            71.91496676439488,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1914.26285822396,
+            70.41496676439488,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1911.6647820126066,
+            68.91496676439488,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1909.0667058012532,
+            67.41496676439488,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1906.4686295898998,
+            65.91496676439488,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1903.8705533785464,
+            64.41496676439488,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1901.272477167193,
+            62.914966764394876,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1898.6744009558397,
+            61.414966764394876,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1898.6744009558397,
+            61.414966764394876,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1897.1744009558397,
+            58.81689055304156,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1895.6744009558397,
+            56.218814341688244,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1894.1744009558397,
+            53.62073813033493,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1892.6744009558397,
+            51.02266191898161,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1891.1744009558397,
+            48.424585707628296,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1889.6744009558397,
+            45.82650949627498,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1888.1744009558397,
+            43.228433284921664,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1886.6744009558397,
+            40.63035707356835,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1885.1744009558397,
+            38.03228086221503,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1883.6744009558397,
+            35.434204650861716,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1882.1744009558397,
+            32.8361284395084,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1880.6744009558397,
+            30.238052228155084,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1879.1744009558397,
+            27.639976016801768,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1877.6744009558397,
+            25.041899805448452,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1876.1744009558397,
+            22.443823594095136,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1874.6744009558397,
+            19.84574738274182,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1873.1744009558397,
+            17.247671171388504,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1871.6744009558397,
+            14.649594960035188,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1870.1744009558397,
+            12.051518748681872,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1868.6744009558397,
+            9.453442537328556,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1867.1744009558397,
+            6.85536632597524,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1865.6744009558397,
+            4.257290114621924,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1864.1744009558397,
+            1.6592139032686077,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1862.6744009558397,
+            -0.9388623080847083,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1862.6744009558397,
+            -0.9388623080847083,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1860.0763247444863,
+            -2.4388623080847083,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1857.478248533133,
+            -3.9388623080847083,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1854.8801723217796,
+            -5.438862308084708,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1852.2820961104262,
+            -6.938862308084708,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1849.6840198990728,
+            -8.438862308084708,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1847.0859436877195,
+            -9.938862308084708,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1844.487867476366,
+            -11.438862308084708,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1841.8897912650127,
+            -12.938862308084708,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1839.2917150536593,
+            -14.438862308084708,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1836.693638842306,
+            -15.938862308084708,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1836.693638842306,
+            -15.938862308084708,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1833.693638842306,
+            -15.938862308084708,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1830.693638842306,
+            -15.938862308084708,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1827.693638842306,
+            -15.938862308084708,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1824.693638842306,
+            -15.938862308084708,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            1821.693638842306,
+            -15.938862308084708,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            1818.693638842306,
+            -15.938862308084708,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            1815.693638842306,
+            -15.938862308084708,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1784.0,
+            -44.0,
+            0.756577
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_23-43-31_1328104339/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_23-43-31_1328104339/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d64cb77f5bf2d2e01b70c7ae9f4fdd1d6dc89e77
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_23-43-31_1328104339/pose.jsonl
@@ -0,0 +1,704 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            67.43514587917667,
+            -352.6606459048711,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            64.83706966782336,
+            -354.1606459048711,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            64.83706966782336,
+            -354.1606459048711,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            63.33706966782336,
+            -356.7587221162244,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            61.83706966782336,
+            -359.35679832757774,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            61.83706966782336,
+            -359.35679832757774,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            59.23899345647004,
+            -360.85679832757774,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            56.640917245116725,
+            -362.35679832757774,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            54.04284103376341,
+            -363.85679832757774,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            51.44476482241009,
+            -365.35679832757774,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            48.84668861105678,
+            -366.85679832757774,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            46.24861239970346,
+            -368.35679832757774,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            43.650536188350145,
+            -369.85679832757774,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            41.05245997699683,
+            -371.35679832757774,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            38.45438376564351,
+            -372.85679832757774,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            38.45438376564351,
+            -372.85679832757774,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            36.95438376564351,
+            -375.45487453893105,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            35.45438376564351,
+            -378.05295075028437,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            35.45438376564351,
+            -378.05295075028437,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            35.45438376564351,
+            -378.05295075028437,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            32.45438376564351,
+            -378.05295075028437,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            29.454383765643513,
+            -378.05295075028437,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            26.454383765643513,
+            -378.05295075028437,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            23.454383765643513,
+            -378.05295075028437,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            20.454383765643513,
+            -378.05295075028437,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            17.454383765643513,
+            -378.05295075028437,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            14.454383765643513,
+            -378.05295075028437,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            11.454383765643513,
+            -378.05295075028437,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            8.454383765643513,
+            -378.05295075028437,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            5.454383765643513,
+            -378.05295075028437,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            2.454383765643513,
+            -378.05295075028437,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -0.545616234356487,
+            -378.05295075028437,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -3.545616234356487,
+            -378.05295075028437,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -6.545616234356487,
+            -378.05295075028437,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -9.545616234356487,
+            -378.05295075028437,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -12.545616234356487,
+            -378.05295075028437,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -15.545616234356487,
+            -378.05295075028437,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -18.545616234356487,
+            -378.05295075028437,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -21.545616234356487,
+            -378.05295075028437,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -24.545616234356487,
+            -378.05295075028437,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -27.545616234356487,
+            -378.05295075028437,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -30.545616234356487,
+            -378.05295075028437,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -33.54561623435649,
+            -378.05295075028437,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -36.54561623435649,
+            -378.05295075028437,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -39.54561623435649,
+            -378.05295075028437,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -42.54561623435649,
+            -378.05295075028437,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -45.54561623435649,
+            -378.05295075028437,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -48.54561623435649,
+            -378.05295075028437,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -51.54561623435649,
+            -378.05295075028437,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -54.54561623435649,
+            -378.05295075028437,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -57.54561623435649,
+            -378.05295075028437,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -60.54561623435649,
+            -378.05295075028437,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -63.54561623435649,
+            -378.05295075028437,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -88.0,
+            -380.0,
+            -1.13129
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_23-50-53_12260289/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_23-50-53_12260289/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..35addb52a5608de5637894da2e5a5f1e55c263ec
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_23-50-53_12260289/pose.jsonl
@@ -0,0 +1,665 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            329.8293117112209,
+            21.40854177607042,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            327.2312354998676,
+            22.90854177607042,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            324.63315928851426,
+            24.40854177607042,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            322.03508307716095,
+            25.90854177607042,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            319.43700686580763,
+            27.40854177607042,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            316.8389306544543,
+            28.90854177607042,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            314.240854443101,
+            30.40854177607042,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            311.6427782317477,
+            31.90854177607042,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            309.04470202039437,
+            33.40854177607042,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            306.44662580904105,
+            34.90854177607042,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            303.84854959768774,
+            36.40854177607042,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            303.84854959768774,
+            36.40854177607042,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            302.34854959768774,
+            39.00661798742374,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            300.84854959768774,
+            41.604694198777054,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            299.34854959768774,
+            44.20277041013037,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            297.84854959768774,
+            46.800846621483686,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            296.34854959768774,
+            49.398922832837,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            294.84854959768774,
+            51.99699904419032,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            293.34854959768774,
+            54.595075255543634,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            291.84854959768774,
+            57.19315146689695,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            290.34854959768774,
+            59.791227678250266,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            288.84854959768774,
+            62.38930388960358,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            287.34854959768774,
+            64.9873801009569,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            285.84854959768774,
+            67.58545631231021,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            284.34854959768774,
+            70.18353252366353,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            282.84854959768774,
+            72.78160873501685,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            281.34854959768774,
+            75.37968494637016,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            279.84854959768774,
+            77.97776115772348,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            278.34854959768774,
+            80.5758373690768,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            276.84854959768774,
+            83.17391358043011,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            275.34854959768774,
+            85.77198979178343,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            273.84854959768774,
+            88.37006600313674,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            272.34854959768774,
+            90.96814221449006,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            270.84854959768774,
+            93.56621842584337,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            269.34854959768774,
+            96.16429463719669,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            267.84854959768774,
+            98.76237084855,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            266.34854959768774,
+            101.36044705990332,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            264.84854959768774,
+            103.95852327125664,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            263.34854959768774,
+            106.55659948260995,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            261.84854959768774,
+            109.15467569396327,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            260.34854959768774,
+            111.75275190531659,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            258.84854959768774,
+            114.3508281166699,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            257.34854959768774,
+            116.94890432802322,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            255.84854959768774,
+            119.54698053937653,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            254.34854959768774,
+            122.14505675072985,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            252.84854959768774,
+            124.74313296208317,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            251.34854959768774,
+            127.34120917343648,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            249.84854959768774,
+            129.9392853847898,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            248.34854959768774,
+            132.5373615961431,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            246.84854959768774,
+            135.13543780749643,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            228.0,
+            164.0,
+            51.3126
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_0-12-55_1708302647/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_0-12-55_1708302647/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c3f8658b4fddfad394c1541c03f674a23fd5a46f
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_0-12-55_1708302647/pose.jsonl
@@ -0,0 +1,587 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            982.8812763321596,
+            12.289559924992304,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            980.2832001208062,
+            10.789559924992304,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            977.6851239094528,
+            9.289559924992304,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            975.0870476980995,
+            7.789559924992304,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            972.4889714867461,
+            6.289559924992304,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            969.8908952753927,
+            4.789559924992304,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            967.2928190640393,
+            3.2895599249923038,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            964.694742852686,
+            1.789559924992304,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            962.0966666413326,
+            0.2895599249923042,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            959.4985904299792,
+            -1.2104400750076956,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            956.9005142186259,
+            -2.7104400750076953,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            954.3024380072725,
+            -4.210440075007695,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            951.7043617959191,
+            -5.710440075007695,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            949.1062855845657,
+            -7.210440075007695,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            946.5082093732124,
+            -8.710440075007694,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991504
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            943.910133161859,
+            -10.210440075007694,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            941.3120569505056,
+            -11.710440075007694,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            938.7139807391522,
+            -13.210440075007694,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            936.1159045277989,
+            -14.710440075007694,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            936.1159045277989,
+            -14.710440075007694,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            933.1159045277989,
+            -14.710440075007694,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            930.1159045277989,
+            -14.710440075007694,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            927.1159045277989,
+            -14.710440075007694,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            924.1159045277989,
+            -14.710440075007694,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            921.1159045277989,
+            -14.710440075007694,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            918.1159045277989,
+            -14.710440075007694,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            915.1159045277989,
+            -14.710440075007694,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            912.1159045277989,
+            -14.710440075007694,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            909.1159045277989,
+            -14.710440075007694,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            906.1159045277989,
+            -14.710440075007694,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            903.1159045277989,
+            -14.710440075007694,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            900.1159045277989,
+            -14.710440075007694,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            897.1159045277989,
+            -14.710440075007694,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            894.1159045277989,
+            -14.710440075007694,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            894.1159045277989,
+            -14.710440075007694,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            894.1159045277989,
+            -14.710440075007694,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 4.1887902047863905
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            892.6159045277989,
+            -17.308516286361012,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            891.1159045277989,
+            -19.90659249771433,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            889.6159045277989,
+            -22.504668709067644,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            888.1159045277989,
+            -25.10274492042096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            886.6159045277989,
+            -27.700821131774276,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            886.6159045277989,
+            -27.700821131774276,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            884.0178283164455,
+            -29.200821131774276,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            881.4197521050921,
+            -30.700821131774276,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            828.0,
+            -52.0,
+            0.708504
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_0-26-53_1251300606/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_0-26-53_1251300606/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7d6a27333fd7e03749aa1d2f3a772fcee952fe7d
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_0-26-53_1251300606/pose.jsonl
@@ -0,0 +1,678 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -232.82216856495597,
+            -347.01375056207735,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -230.22409235360266,
+            -345.51375056207735,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -227.62601614224934,
+            -344.01375056207735,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -225.02793993089603,
+            -342.51375056207735,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -222.4298637195427,
+            -341.01375056207735,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -219.8317875081894,
+            -339.51375056207735,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -217.23371129683608,
+            -338.01375056207735,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -214.63563508548276,
+            -336.51375056207735,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -212.03755887412945,
+            -335.01375056207735,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -209.43948266277613,
+            -333.51375056207735,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -206.8414064514228,
+            -332.01375056207735,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -204.2433302400695,
+            -330.51375056207735,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -201.64525402871618,
+            -329.01375056207735,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -199.04717781736286,
+            -327.51375056207735,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -196.44910160600955,
+            -326.01375056207735,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -193.85102539465623,
+            -324.51375056207735,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -191.25294918330292,
+            -323.01375056207735,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -188.6548729719496,
+            -321.51375056207735,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -186.05679676059628,
+            -320.01375056207735,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -183.45872054924297,
+            -318.51375056207735,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -180.86064433788965,
+            -317.01375056207735,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -178.26256812653634,
+            -315.51375056207735,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -175.66449191518302,
+            -314.01375056207735,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -173.0664157038297,
+            -312.51375056207735,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -170.4683394924764,
+            -311.01375056207735,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -167.87026328112307,
+            -309.51375056207735,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -165.27218706976976,
+            -308.01375056207735,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -162.67411085841644,
+            -306.51375056207735,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -160.07603464706312,
+            -305.01375056207735,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -157.4779584357098,
+            -303.51375056207735,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -154.8798822243565,
+            -302.01375056207735,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -152.28180601300318,
+            -300.51375056207735,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -149.68372980164986,
+            -299.01375056207735,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -147.08565359029654,
+            -297.51375056207735,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -144.48757737894323,
+            -296.01375056207735,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -141.8895011675899,
+            -294.51375056207735,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -139.2914249562366,
+            -293.01375056207735,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -136.69334874488328,
+            -291.51375056207735,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -134.09527253352996,
+            -290.01375056207735,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -131.49719632217665,
+            -288.51375056207735,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -128.89912011082333,
+            -287.01375056207735,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -126.30104389947002,
+            -285.51375056207735,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -123.7029676881167,
+            -284.01375056207735,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -121.10489147676338,
+            -282.51375056207735,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -118.50681526541007,
+            -281.01375056207735,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -115.90873905405675,
+            -279.51375056207735,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -113.31066284270344,
+            -278.01375056207735,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -113.31066284270344,
+            -278.01375056207735,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -110.31066284270344,
+            -278.01375056207735,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -107.31066284270344,
+            -278.01375056207735,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -104.31066284270344,
+            -278.01375056207735,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -84.0,
+            -268.0,
+            -1.1313
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_0-41-28_394633074/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_0-41-28_394633074/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1f6b097f566982f65e94e964cadeddc12a87001d
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_0-41-28_394633074/pose.jsonl
@@ -0,0 +1,522 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            848.4322165776318,
+            18.990441417054683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            845.8341403662785,
+            17.490441417054683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            843.2360641549251,
+            15.990441417054683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            840.6379879435717,
+            14.490441417054683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            838.0399117322183,
+            12.990441417054683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            835.441835520865,
+            11.490441417054683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            832.8437593095116,
+            9.990441417054683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            830.2456830981582,
+            8.490441417054683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            827.6476068868049,
+            6.990441417054683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            825.0495306754515,
+            5.490441417054683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            822.4514544640981,
+            3.990441417054683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            819.8533782527447,
+            2.490441417054683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            817.2553020413914,
+            0.9904414170546831,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            817.2553020413914,
+            0.9904414170546831,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            815.7553020413914,
+            -1.6076347942986329,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            815.7553020413914,
+            -1.6076347942986329,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            813.157225830038,
+            -3.1076347942986327,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            810.5591496186846,
+            -4.607634794298632,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991504
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            807.9610734073312,
+            -6.107634794298632,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            805.3629971959779,
+            -7.607634794298632,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            802.7649209846245,
+            -9.107634794298631,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991504
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            800.1668447732711,
+            -10.607634794298631,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            797.5687685619178,
+            -12.107634794298631,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            794.9706923505644,
+            -13.607634794298631,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            792.372616139211,
+            -15.107634794298631,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            789.7745399278576,
+            -16.60763479429863,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991504
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            787.1764637165043,
+            -18.10763479429863,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            784.5783875051509,
+            -19.60763479429863,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            781.9803112937975,
+            -21.10763479429863,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            779.3822350824441,
+            -22.60763479429863,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            779.3822350824441,
+            -22.60763479429863,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            779.3822350824441,
+            -22.60763479429863,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.665191429188101
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            776.7841588710908,
+            -21.10763479429863,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            776.7841588710908,
+            -21.10763479429863,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            776.7841588710908,
+            -21.10763479429863,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.665191429188101
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            776.7841588710908,
+            -21.10763479429863,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 4.1887902047864
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            775.2841588710908,
+            -23.705711005651946,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            773.7841588710908,
+            -26.30378721700526,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            772.2841588710908,
+            -28.901863428358578,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            708.0,
+            -68.0,
+            2.61985
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_0-50-34_235745791/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_0-50-34_235745791/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0508cd5e6051728b246adb56bc59a64cb6cdce3e
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_0-50-34_235745791/pose.jsonl
@@ -0,0 +1,821 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            787.3177459749985,
+            466.1401085448511,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            788.8177459749985,
+            463.5420323334978,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            790.3177459749985,
+            460.94395612214447,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            791.8177459749985,
+            458.34587991079115,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            791.8177459749985,
+            458.34587991079115,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            791.8177459749985,
+            455.34587991079115,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            791.8177459749985,
+            452.34587991079115,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            791.8177459749985,
+            449.34587991079115,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            791.8177459749985,
+            446.34587991079115,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            791.8177459749985,
+            443.34587991079115,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            791.8177459749985,
+            440.34587991079115,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            791.8177459749985,
+            440.34587991079115,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            793.3177459749985,
+            437.74780369943784,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            793.3177459749985,
+            437.74780369943784,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            793.3177459749985,
+            437.74780369943784,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.220446049250313e-16
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            796.3177459749985,
+            437.74780369943784,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            799.3177459749985,
+            437.74780369943784,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            802.3177459749985,
+            437.74780369943784,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            805.3177459749985,
+            437.74780369943784,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            808.3177459749985,
+            437.74780369943784,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            811.3177459749985,
+            437.74780369943784,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            814.3177459749985,
+            437.74780369943784,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            817.3177459749985,
+            437.74780369943784,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            820.3177459749985,
+            437.74780369943784,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            823.3177459749985,
+            437.74780369943784,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            826.3177459749985,
+            437.74780369943784,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            829.3177459749985,
+            437.74780369943784,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            832.3177459749985,
+            437.74780369943784,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            835.3177459749985,
+            437.74780369943784,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            838.3177459749985,
+            437.74780369943784,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            841.3177459749985,
+            437.74780369943784,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            844.3177459749985,
+            437.74780369943784,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            847.3177459749985,
+            437.74780369943784,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            850.3177459749985,
+            437.74780369943784,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            853.3177459749985,
+            437.74780369943784,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            856.3177459749985,
+            437.74780369943784,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            859.3177459749985,
+            437.74780369943784,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            862.3177459749985,
+            437.74780369943784,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            865.3177459749985,
+            437.74780369943784,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            868.3177459749985,
+            437.74780369943784,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            871.3177459749985,
+            437.74780369943784,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            874.3177459749985,
+            437.74780369943784,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            874.3177459749985,
+            437.74780369943784,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            876.9158221863518,
+            439.24780369943784,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            879.5138983977051,
+            440.74780369943784,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            882.1119746090585,
+            442.24780369943784,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            884.7100508204119,
+            443.74780369943784,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            887.3081270317653,
+            445.24780369943784,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            889.9062032431186,
+            446.74780369943784,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            892.504279454472,
+            448.24780369943784,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            895.1023556658254,
+            449.74780369943784,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            897.7004318771787,
+            451.24780369943784,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            900.2985080885321,
+            452.74780369943784,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            902.8965842998855,
+            454.24780369943784,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            905.4946605112389,
+            455.74780369943784,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            908.0927367225922,
+            457.24780369943784,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            910.6908129339456,
+            458.74780369943784,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            913.288889145299,
+            460.24780369943784,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            915.8869653566524,
+            461.74780369943784,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            918.4850415680057,
+            463.24780369943784,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            921.0831177793591,
+            464.74780369943784,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            923.6811939907125,
+            466.24780369943784,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            948.0,
+            464.0,
+            139.324
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_1-16-3_937558955/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_1-16-3_937558955/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..45bc1725c41d50751c10ad722f165e57199d08a4
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_1-16-3_937558955/pose.jsonl
@@ -0,0 +1,782 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1143.9422318079983,
+            236.1122955569513,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1142.4422318079983,
+            238.7103717683046,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1140.9422318079983,
+            241.30844797965793,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1139.4422318079983,
+            243.90652419101124,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1137.9422318079983,
+            246.50460040236456,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1136.4422318079983,
+            249.10267661371788,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1134.9422318079983,
+            251.7007528250712,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1133.4422318079983,
+            254.2988290364245,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1131.9422318079983,
+            256.8969052477778,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1130.4422318079983,
+            259.4949814591311,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1128.9422318079983,
+            262.0930576704844,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1127.4422318079983,
+            264.69113388183774,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1125.9422318079983,
+            267.28921009319106,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1124.4422318079983,
+            269.8872863045444,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1122.9422318079983,
+            272.4853625158977,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1121.4422318079983,
+            275.083438727251,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1119.9422318079983,
+            277.6815149386043,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1118.4422318079983,
+            280.27959114995764,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1118.4422318079983,
+            280.27959114995764,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1115.844155596645,
+            281.77959114995764,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1113.2460793852915,
+            283.27959114995764,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1110.6480031739382,
+            284.77959114995764,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1108.0499269625848,
+            286.27959114995764,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1105.4518507512314,
+            287.77959114995764,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1105.4518507512314,
+            287.77959114995764,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1102.4518507512314,
+            287.77959114995764,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1099.4518507512314,
+            287.77959114995764,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1099.4518507512314,
+            287.77959114995764,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1099.4518507512314,
+            287.77959114995764,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1097.9518507512314,
+            290.37766736131096,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1097.9518507512314,
+            290.37766736131096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1097.9518507512314,
+            293.37766736131096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1097.9518507512314,
+            296.37766736131096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1097.9518507512314,
+            299.37766736131096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1097.9518507512314,
+            302.37766736131096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1097.9518507512314,
+            305.37766736131096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1097.9518507512314,
+            308.37766736131096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1097.9518507512314,
+            311.37766736131096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1097.9518507512314,
+            314.37766736131096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1097.9518507512314,
+            317.37766736131096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1097.9518507512314,
+            320.37766736131096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1097.9518507512314,
+            323.37766736131096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1097.9518507512314,
+            326.37766736131096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1097.9518507512314,
+            329.37766736131096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1097.9518507512314,
+            332.37766736131096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1097.9518507512314,
+            335.37766736131096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1097.9518507512314,
+            338.37766736131096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1097.9518507512314,
+            341.37766736131096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1097.9518507512314,
+            344.37766736131096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1097.9518507512314,
+            347.37766736131096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            1097.9518507512314,
+            350.37766736131096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            1097.9518507512314,
+            353.37766736131096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            1097.9518507512314,
+            356.37766736131096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            1097.9518507512314,
+            359.37766736131096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            1097.9518507512314,
+            362.37766736131096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            1097.9518507512314,
+            365.37766736131096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            1097.9518507512314,
+            368.37766736131096,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            1097.9518507512314,
+            368.37766736131096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            1099.4518507512314,
+            370.97574357266427,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1092.0,
+            400.0,
+            -7.75826
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_1-20-57_2143124030/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_1-20-57_2143124030/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ad82b60e4b6c2da2b707d18447aae35f3ec25488
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_1-20-57_2143124030/pose.jsonl
@@ -0,0 +1,639 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -103.25156694464064,
+            -417.4780833268641,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -101.75156694464064,
+            -414.8800071155108,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -101.75156694464064,
+            -414.8800071155108,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -99.15349073328733,
+            -413.3800071155108,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -96.55541452193401,
+            -411.8800071155108,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -96.55541452193401,
+            -411.8800071155108,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -95.05541452193401,
+            -409.2819309041575,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -93.55541452193401,
+            -406.6838546928042,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -93.55541452193401,
+            -406.6838546928042,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -93.55541452193401,
+            -403.6838546928042,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -93.55541452193401,
+            -400.6838546928042,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -93.55541452193401,
+            -397.6838546928042,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -93.55541452193401,
+            -394.6838546928042,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -93.55541452193401,
+            -391.6838546928042,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -93.55541452193401,
+            -388.6838546928042,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -93.55541452193401,
+            -385.6838546928042,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -93.55541452193401,
+            -382.6838546928042,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -93.55541452193401,
+            -379.6838546928042,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -93.55541452193401,
+            -376.6838546928042,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -93.55541452193401,
+            -373.6838546928042,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -93.55541452193401,
+            -370.6838546928042,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -93.55541452193401,
+            -367.6838546928042,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -93.55541452193401,
+            -364.6838546928042,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -93.55541452193401,
+            -361.6838546928042,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -93.55541452193401,
+            -358.6838546928042,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -93.55541452193401,
+            -355.6838546928042,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -93.55541452193401,
+            -352.6838546928042,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -93.55541452193401,
+            -349.6838546928042,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -93.55541452193401,
+            -346.6838546928042,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -93.55541452193401,
+            -343.6838546928042,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -93.55541452193401,
+            -340.6838546928042,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -93.55541452193401,
+            -337.6838546928042,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -93.55541452193401,
+            -334.6838546928042,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -93.55541452193401,
+            -331.6838546928042,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -93.55541452193401,
+            -328.6838546928042,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -93.55541452193401,
+            -325.6838546928042,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -93.55541452193401,
+            -322.6838546928042,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -93.55541452193401,
+            -319.6838546928042,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -93.55541452193401,
+            -316.6838546928042,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -93.55541452193401,
+            -313.6838546928042,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -93.55541452193401,
+            -310.6838546928042,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -93.55541452193401,
+            -307.6838546928042,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -93.55541452193401,
+            -304.6838546928042,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -93.55541452193401,
+            -304.6838546928042,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -92.05541452193401,
+            -302.08577848145086,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -90.55541452193401,
+            -299.48770227009754,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -89.05541452193401,
+            -296.8896260587442,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -87.55541452193401,
+            -294.2915498473909,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -84.0,
+            -268.0,
+            -1.1313
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_1-3-50_1021784812/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_1-3-50_1021784812/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6cd723f378478632d7fbe0130f2fae8d10cac8ef
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_1-3-50_1021784812/pose.jsonl
@@ -0,0 +1,704 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            914.6831169866346,
+            446.386121403439,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            914.6831169866346,
+            443.386121403439,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            914.6831169866346,
+            440.386121403439,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            914.6831169866346,
+            437.386121403439,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            914.6831169866346,
+            434.386121403439,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            914.6831169866346,
+            434.386121403439,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            913.1831169866346,
+            431.7880451920857,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            911.6831169866346,
+            429.1899689807324,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            910.1831169866346,
+            426.59189276937906,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            910.1831169866346,
+            426.59189276937906,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            910.1831169866346,
+            423.59189276937906,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            910.1831169866346,
+            420.59189276937906,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            910.1831169866346,
+            417.59189276937906,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            910.1831169866346,
+            414.59189276937906,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            910.1831169866346,
+            411.59189276937906,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            910.1831169866346,
+            408.59189276937906,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            910.1831169866346,
+            405.59189276937906,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            910.1831169866346,
+            405.59189276937906,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            911.6831169866346,
+            402.99381655802574,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            913.1831169866346,
+            400.3957403466724,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            914.6831169866346,
+            397.7976641353191,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            916.1831169866346,
+            395.1995879239658,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            917.6831169866346,
+            392.6015117126125,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            919.1831169866346,
+            390.00343550125916,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            920.6831169866346,
+            387.40535928990585,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            922.1831169866346,
+            384.80728307855253,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            923.6831169866346,
+            382.2092068671992,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            925.1831169866346,
+            379.6111306558459,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            926.6831169866346,
+            377.0130544444926,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            928.1831169866346,
+            374.41497823313927,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            929.6831169866346,
+            371.81690202178595,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            931.1831169866346,
+            369.21882581043263,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            932.6831169866346,
+            366.6207495990793,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            934.1831169866346,
+            364.022673387726,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            935.6831169866346,
+            361.4245971763727,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            937.1831169866346,
+            358.82652096501937,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            938.6831169866346,
+            356.22844475366605,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            940.1831169866346,
+            353.63036854231274,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            940.1831169866346,
+            353.63036854231274,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            940.1831169866346,
+            350.63036854231274,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            940.1831169866346,
+            347.63036854231274,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            940.1831169866346,
+            344.63036854231274,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            940.1831169866346,
+            341.63036854231274,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            940.1831169866346,
+            338.63036854231274,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            940.1831169866346,
+            335.63036854231274,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            940.1831169866346,
+            332.63036854231274,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            940.1831169866346,
+            329.63036854231274,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            940.1831169866346,
+            326.63036854231274,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            940.1831169866346,
+            323.63036854231274,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            940.1831169866346,
+            320.63036854231274,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            940.1831169866346,
+            317.63036854231274,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            940.1831169866346,
+            314.63036854231274,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            940.1831169866346,
+            311.63036854231274,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            944.0,
+            292.0,
+            1.52855
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_1-38-30_1022963858/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_1-38-30_1022963858/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..af2e09faf3649a91dcb11c6ba0539dceacba3acd
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_1-38-30_1022963858/pose.jsonl
@@ -0,0 +1,548 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            615.960949820985,
+            126.59635982103683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            613.3628736096316,
+            128.09635982103683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            610.7647973982782,
+            129.59635982103683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            608.1667211869249,
+            131.09635982103683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            605.5686449755715,
+            132.59635982103683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            602.9705687642181,
+            134.09635982103683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            600.3724925528647,
+            135.59635982103683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            597.7744163415114,
+            137.09635982103683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            595.176340130158,
+            138.59635982103683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            592.5782639188046,
+            140.09635982103683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            589.9801877074513,
+            141.59635982103683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            587.3821114960979,
+            143.09635982103683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            584.7840352847445,
+            144.59635982103683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            582.1859590733911,
+            146.09635982103683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            579.5878828620378,
+            147.59635982103683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            576.9898066506844,
+            149.09635982103683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            574.391730439331,
+            150.59635982103683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            571.7936542279776,
+            152.09635982103683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            569.1955780166243,
+            153.59635982103683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            566.5975018052709,
+            155.09635982103683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            563.9994255939175,
+            156.59635982103683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            561.4013493825641,
+            158.09635982103683,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            561.4013493825641,
+            158.09635982103683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            558.4013493825641,
+            158.09635982103683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            555.4013493825641,
+            158.09635982103683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            552.4013493825641,
+            158.09635982103683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            549.4013493825641,
+            158.09635982103683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            546.4013493825641,
+            158.09635982103683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            543.4013493825641,
+            158.09635982103683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            540.4013493825641,
+            158.09635982103683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            537.4013493825641,
+            158.09635982103683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            534.4013493825641,
+            158.09635982103683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            531.4013493825641,
+            158.09635982103683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            528.4013493825641,
+            158.09635982103683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            525.4013493825641,
+            158.09635982103683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            522.4013493825641,
+            158.09635982103683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            519.4013493825641,
+            158.09635982103683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            516.4013493825641,
+            158.09635982103683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            513.4013493825641,
+            158.09635982103683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            510.40134938256415,
+            158.09635982103683,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            507.40134938256415,
+            158.09635982103683,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            448.0,
+            176.0,
+            -0.420975
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_2-31-3_262178224/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_2-31-3_262178224/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3de027fa1359c70127889b37eec27096cc1f5eaa
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_2-31-3_262178224/pose.jsonl
@@ -0,0 +1,678 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            762.4055943191108,
+            -13.083532077447956,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            763.9055943191108,
+            -15.681608288801272,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            765.4055943191108,
+            -18.279684500154588,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            766.9055943191108,
+            -20.877760711507904,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            768.4055943191108,
+            -23.47583692286122,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            769.9055943191108,
+            -26.073913134214536,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            771.4055943191108,
+            -28.67198934556785,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            772.9055943191108,
+            -31.270065556921168,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            774.4055943191108,
+            -33.868141768274484,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            775.9055943191108,
+            -36.4662179796278,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            775.9055943191108,
+            -36.4662179796278,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            775.9055943191108,
+            -39.4662179796278,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            775.9055943191108,
+            -42.4662179796278,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            775.9055943191108,
+            -45.4662179796278,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            775.9055943191108,
+            -48.4662179796278,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            775.9055943191108,
+            -51.4662179796278,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            775.9055943191108,
+            -54.4662179796278,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            775.9055943191108,
+            -57.4662179796278,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            775.9055943191108,
+            -60.4662179796278,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            775.9055943191108,
+            -63.4662179796278,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            775.9055943191108,
+            -66.4662179796278,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            775.9055943191108,
+            -69.4662179796278,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            775.9055943191108,
+            -72.4662179796278,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            775.9055943191108,
+            -75.4662179796278,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            775.9055943191108,
+            -78.4662179796278,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            775.9055943191108,
+            -81.4662179796278,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            775.9055943191108,
+            -84.4662179796278,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            775.9055943191108,
+            -87.4662179796278,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            775.9055943191108,
+            -90.4662179796278,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            775.9055943191108,
+            -93.4662179796278,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            775.9055943191108,
+            -96.4662179796278,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            775.9055943191108,
+            -99.4662179796278,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            775.9055943191108,
+            -102.4662179796278,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            775.9055943191108,
+            -105.4662179796278,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            775.9055943191108,
+            -108.4662179796278,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            775.9055943191108,
+            -111.4662179796278,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            775.9055943191108,
+            -114.4662179796278,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            775.9055943191108,
+            -117.4662179796278,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            775.9055943191108,
+            -120.4662179796278,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            775.9055943191108,
+            -123.4662179796278,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            775.9055943191108,
+            -126.4662179796278,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            775.9055943191108,
+            -126.4662179796278,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            777.4055943191108,
+            -129.06429419098112,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            778.9055943191108,
+            -131.66237040233443,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            780.4055943191108,
+            -134.26044661368775,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            781.9055943191108,
+            -136.85852282504106,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            783.4055943191108,
+            -139.45659903639438,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            784.9055943191108,
+            -142.0546752477477,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            786.4055943191108,
+            -144.652751459101,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            787.9055943191108,
+            -147.25082767045433,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            789.4055943191108,
+            -149.84890388180764,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            792.0,
+            -168.0,
+            -3.30387
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_2-33-20_972058109/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_2-33-20_972058109/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..35161f3ff15d2d761ab784034bedacb1ba77f2dc
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_2-33-20_972058109/pose.jsonl
@@ -0,0 +1,652 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -9.394119739555407,
+            -408.2567273776679,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -10.894119739555407,
+            -405.6586511663146,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -12.394119739555407,
+            -403.0605749549613,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -13.894119739555407,
+            -400.46249874360797,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -15.394119739555407,
+            -397.86442253225465,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -16.894119739555407,
+            -395.26634632090133,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -18.394119739555407,
+            -392.668270109548,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -19.894119739555407,
+            -390.0701938981947,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -19.894119739555407,
+            -390.0701938981947,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -22.492195950908723,
+            -388.5701938981947,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -25.09027216226204,
+            -387.0701938981947,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -27.688348373615355,
+            -385.5701938981947,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -30.28642458496867,
+            -384.0701938981947,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -32.88450079632199,
+            -382.5701938981947,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -35.4825770076753,
+            -381.0701938981947,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -35.4825770076753,
+            -381.0701938981947,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -36.9825770076753,
+            -378.4721176868414,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -38.4825770076753,
+            -375.87404147548807,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -39.9825770076753,
+            -373.27596526413475,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -41.4825770076753,
+            -370.67788905278144,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -42.9825770076753,
+            -368.0798128414281,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -44.4825770076753,
+            -365.4817366300748,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -45.9825770076753,
+            -362.8836604187215,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -47.4825770076753,
+            -360.2855842073682,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -48.9825770076753,
+            -357.68750799601486,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -50.4825770076753,
+            -355.08943178466154,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -51.9825770076753,
+            -352.4913555733082,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -53.4825770076753,
+            -349.8932793619549,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -54.9825770076753,
+            -347.2952031506016,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -56.4825770076753,
+            -344.6971269392483,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -57.9825770076753,
+            -342.09905072789496,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -59.4825770076753,
+            -339.50097451654165,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -60.9825770076753,
+            -336.90289830518833,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -62.4825770076753,
+            -334.304822093835,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -63.9825770076753,
+            -331.7067458824817,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -65.4825770076753,
+            -329.1086696711284,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -66.9825770076753,
+            -326.51059345977507,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -68.4825770076753,
+            -323.91251724842175,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -69.9825770076753,
+            -321.31444103706843,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -69.9825770076753,
+            -321.31444103706843,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -69.9825770076753,
+            -318.31444103706843,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -69.9825770076753,
+            -315.31444103706843,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -69.9825770076753,
+            -312.31444103706843,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -69.9825770076753,
+            -309.31444103706843,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -69.9825770076753,
+            -306.31444103706843,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -69.9825770076753,
+            -303.31444103706843,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -69.9825770076753,
+            -300.31444103706843,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -69.9825770076753,
+            -297.31444103706843,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -69.9825770076753,
+            -294.31444103706843,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -84.0,
+            -268.0,
+            -1.1313
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_2-5-42_525829204/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_2-5-42_525829204/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ecf8cdae5913d9c79bdc455592c8acbd51a71da2
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_2-5-42_525829204/pose.jsonl
@@ -0,0 +1,678 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1020.7449175140081,
+            1005.8800919041349,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1023.3429937253613,
+            1004.3800919041349,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1025.9410699367147,
+            1002.8800919041349,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1028.539146148068,
+            1001.3800919041349,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1031.1372223594215,
+            999.8800919041349,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1033.7352985707748,
+            998.3800919041349,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1036.3333747821282,
+            996.8800919041349,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1038.9314509934816,
+            995.3800919041349,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1041.529527204835,
+            993.8800919041349,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1044.1276034161883,
+            992.3800919041349,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1046.7256796275417,
+            990.8800919041349,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1049.323755838895,
+            989.3800919041349,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1051.9218320502484,
+            987.8800919041349,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1054.5199082616018,
+            986.3800919041349,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1057.1179844729552,
+            984.8800919041349,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1059.7160606843086,
+            983.3800919041349,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1062.314136895662,
+            981.8800919041349,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1064.9122131070153,
+            980.3800919041349,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1067.5102893183687,
+            978.8800919041349,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1070.108365529722,
+            977.3800919041349,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1072.7064417410754,
+            975.8800919041349,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1075.3045179524288,
+            974.3800919041349,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1077.9025941637822,
+            972.8800919041349,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1080.5006703751355,
+            971.3800919041349,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1083.098746586489,
+            969.8800919041349,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1085.6968227978423,
+            968.3800919041349,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1088.2948990091957,
+            966.8800919041349,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1090.892975220549,
+            965.3800919041349,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1093.4910514319024,
+            963.8800919041349,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1093.4910514319024,
+            963.8800919041349,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1094.9910514319024,
+            961.2820156927817,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1096.4910514319024,
+            958.6839394814283,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1097.9910514319024,
+            956.0858632700749,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1099.4910514319024,
+            953.4877870587216,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1100.9910514319024,
+            950.8897108473682,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1102.4910514319024,
+            948.2916346360148,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1103.9910514319024,
+            945.6935584246614,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1105.4910514319024,
+            943.0954822133081,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1106.9910514319024,
+            940.4974060019547,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1108.4910514319024,
+            937.8993297906013,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1109.9910514319024,
+            935.3012535792479,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1111.4910514319024,
+            932.7031773678946,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1112.9910514319024,
+            930.1051011565412,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1114.4910514319024,
+            927.5070249451878,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1115.9910514319024,
+            924.9089487338344,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1117.4910514319024,
+            922.3108725224811,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1118.9910514319024,
+            919.7127963111277,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1120.4910514319024,
+            917.1147200997743,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1121.9910514319024,
+            914.516643888421,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1121.9910514319024,
+            914.516643888421,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            1121.9910514319024,
+            911.516643888421,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267949059
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1140.0,
+            892.0,
+            1.05541
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_2-6-8_1527622954/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_2-6-8_1527622954/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..179e14a75a7e7e288dd50e9e03fa46b779806834
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_2-6-8_1527622954/pose.jsonl
@@ -0,0 +1,860 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            298.3745208306442,
+            331.4875362945434,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            300.9725970419975,
+            329.9875362945434,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            303.57067325335083,
+            328.4875362945434,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            306.16874946470415,
+            326.9875362945434,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            308.76682567605746,
+            325.4875362945434,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            311.3649018874108,
+            323.9875362945434,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            313.9629780987641,
+            322.4875362945434,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            316.5610543101174,
+            320.9875362945434,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            319.15913052147073,
+            319.4875362945434,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            321.75720673282405,
+            317.9875362945434,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            324.35528294417736,
+            316.4875362945434,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            326.9533591555307,
+            314.9875362945434,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            329.551435366884,
+            313.4875362945434,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            332.1495115782373,
+            311.9875362945434,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            334.7475877895906,
+            310.4875362945434,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            334.7475877895906,
+            310.4875362945434,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            337.7475877895906,
+            310.4875362945434,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            340.7475877895906,
+            310.4875362945434,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            343.7475877895906,
+            310.4875362945434,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            343.7475877895906,
+            310.4875362945434,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            343.7475877895906,
+            310.4875362945434,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            345.2475877895906,
+            307.8894600831901,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            346.7475877895906,
+            305.2913838718368,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            348.2475877895906,
+            302.69330766048347,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            349.7475877895906,
+            300.09523144913015,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            351.2475877895906,
+            297.49715523777684,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            352.7475877895906,
+            294.8990790264235,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            354.2475877895906,
+            292.3010028150702,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            354.2475877895906,
+            292.3010028150702,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            354.2475877895906,
+            289.3010028150702,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            354.2475877895906,
+            286.3010028150702,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            354.2475877895906,
+            283.3010028150702,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            354.2475877895906,
+            280.3010028150702,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            354.2475877895906,
+            277.3010028150702,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            354.2475877895906,
+            274.3010028150702,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            354.2475877895906,
+            271.3010028150702,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            354.2475877895906,
+            268.3010028150702,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            354.2475877895906,
+            265.3010028150702,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            354.2475877895906,
+            262.3010028150702,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            354.2475877895906,
+            259.3010028150702,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            354.2475877895906,
+            256.3010028150702,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            354.2475877895906,
+            253.3010028150702,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            354.2475877895906,
+            250.3010028150702,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            354.2475877895906,
+            247.3010028150702,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            354.2475877895906,
+            244.3010028150702,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            354.2475877895906,
+            241.3010028150702,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            354.2475877895906,
+            238.3010028150702,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            354.2475877895906,
+            235.3010028150702,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            354.2475877895906,
+            232.3010028150702,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            354.2475877895906,
+            229.3010028150702,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            354.2475877895906,
+            226.3010028150702,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            354.2475877895906,
+            223.3010028150702,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            354.2475877895906,
+            220.3010028150702,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            354.2475877895906,
+            217.3010028150702,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            354.2475877895906,
+            214.3010028150702,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            354.2475877895906,
+            211.3010028150702,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            354.2475877895906,
+            208.3010028150702,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            354.2475877895906,
+            205.3010028150702,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            354.2475877895906,
+            202.3010028150702,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            354.2475877895906,
+            199.3010028150702,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            354.2475877895906,
+            196.3010028150702,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            354.2475877895906,
+            193.3010028150702,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            354.2475877895906,
+            190.3010028150702,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            354.2475877895906,
+            187.3010028150702,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            354.2475877895906,
+            184.3010028150702,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            364.0,
+            164.0,
+            16.579
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_3-13-47_384370888/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_3-13-47_384370888/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3204fb55fe278896b2cb62e6c5db4d3a07a72761
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_3-13-47_384370888/pose.jsonl
@@ -0,0 +1,691 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            393.37496950064855,
+            139.8383985337491,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            390.37496950064855,
+            139.8383985337491,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            387.37496950064855,
+            139.8383985337491,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            384.37496950064855,
+            139.8383985337491,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            381.37496950064855,
+            139.8383985337491,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            378.37496950064855,
+            139.8383985337491,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            375.37496950064855,
+            139.8383985337491,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            372.37496950064855,
+            139.8383985337491,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            369.37496950064855,
+            139.8383985337491,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            366.37496950064855,
+            139.8383985337491,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            363.37496950064855,
+            139.8383985337491,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            360.37496950064855,
+            139.8383985337491,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            357.37496950064855,
+            139.8383985337491,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            354.37496950064855,
+            139.8383985337491,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            351.37496950064855,
+            139.8383985337491,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            348.37496950064855,
+            139.8383985337491,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            345.37496950064855,
+            139.8383985337491,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            342.37496950064855,
+            139.8383985337491,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            339.37496950064855,
+            139.8383985337491,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            336.37496950064855,
+            139.8383985337491,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            333.37496950064855,
+            139.8383985337491,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            330.37496950064855,
+            139.8383985337491,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            327.37496950064855,
+            139.8383985337491,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            324.37496950064855,
+            139.8383985337491,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            321.37496950064855,
+            139.8383985337491,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            318.37496950064855,
+            139.8383985337491,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            315.37496950064855,
+            139.8383985337491,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            312.37496950064855,
+            139.8383985337491,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            309.37496950064855,
+            139.8383985337491,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            306.37496950064855,
+            139.8383985337491,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            303.37496950064855,
+            139.8383985337491,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            300.37496950064855,
+            139.8383985337491,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            297.37496950064855,
+            139.8383985337491,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            294.37496950064855,
+            139.8383985337491,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            291.37496950064855,
+            139.8383985337491,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            291.37496950064855,
+            139.8383985337491,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            291.37496950064855,
+            139.8383985337491,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            289.87496950064855,
+            142.43647474510243,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            288.37496950064855,
+            145.03455095645575,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            288.37496950064855,
+            145.03455095645575,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            285.77689328929523,
+            146.53455095645575,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            283.1788170779419,
+            148.03455095645575,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            280.5807408665886,
+            149.53455095645575,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            277.9826646552353,
+            151.03455095645575,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            275.38458844388197,
+            152.53455095645575,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            272.78651223252865,
+            154.03455095645575,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            270.18843602117533,
+            155.53455095645575,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            267.590359809822,
+            157.03455095645575,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            264.9922835984687,
+            158.53455095645575,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            262.3942073871154,
+            160.03455095645575,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            262.3942073871154,
+            160.03455095645575,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            259.3942073871154,
+            160.03455095645575,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            228.0,
+            164.0,
+            51.3126
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_3-26-12_646755199/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_3-26-12_646755199/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6e3e6b30a97ade94a202546623c782519f8fdf34
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_3-26-12_646755199/pose.jsonl
@@ -0,0 +1,717 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            123.7252637702543,
+            83.45423475360805,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            122.2252637702543,
+            80.85615854225473,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            120.7252637702543,
+            78.25808233090142,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            119.2252637702543,
+            75.6600061195481,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            117.7252637702543,
+            73.06192990819478,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            116.2252637702543,
+            70.46385369684147,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            114.7252637702543,
+            67.86577748548815,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            113.2252637702543,
+            65.26770127413484,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            111.7252637702543,
+            62.66962506278152,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            110.2252637702543,
+            60.071548851428204,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            108.7252637702543,
+            57.47347264007489,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            108.7252637702543,
+            57.47347264007489,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            108.7252637702543,
+            54.47347264007489,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            108.7252637702543,
+            51.47347264007489,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            108.7252637702543,
+            48.47347264007489,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            108.7252637702543,
+            45.47347264007489,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            108.7252637702543,
+            42.47347264007489,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            108.7252637702543,
+            39.47347264007489,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            108.7252637702543,
+            36.47347264007489,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            108.7252637702543,
+            36.47347264007489,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            108.7252637702543,
+            36.47347264007489,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            106.12718755890099,
+            34.97347264007489,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            103.52911134754767,
+            33.47347264007489,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            100.93103513619435,
+            31.97347264007489,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            98.33295892484104,
+            30.47347264007489,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            95.73488271348772,
+            28.97347264007489,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            93.1368065021344,
+            27.47347264007489,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            90.53873029078109,
+            25.97347264007489,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            87.94065407942777,
+            24.47347264007489,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            85.34257786807446,
+            22.97347264007489,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            82.74450165672114,
+            21.47347264007489,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            80.14642544536783,
+            19.97347264007489,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            77.54834923401451,
+            18.47347264007489,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            74.9502730226612,
+            16.97347264007489,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            72.35219681130788,
+            15.473472640074888,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            69.75412059995456,
+            13.973472640074888,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            67.15604438860125,
+            12.473472640074888,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            64.55796817724793,
+            10.973472640074888,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            61.95989196589461,
+            9.473472640074888,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            59.3618157545413,
+            7.973472640074888,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            59.3618157545413,
+            7.973472640074888,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            57.8618157545413,
+            5.375396428721572,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            56.3618157545413,
+            2.7773202173682563,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            54.8618157545413,
+            0.17924400601494028,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            53.3618157545413,
+            -2.4188322053383757,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            51.8618157545413,
+            -5.016908416691692,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            50.3618157545413,
+            -7.614984628045008,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            48.8618157545413,
+            -10.213060839398324,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            47.3618157545413,
+            -12.81113705075164,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            45.8618157545413,
+            -15.409213262104956,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            45.8618157545413,
+            -15.409213262104956,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            43.26373954318798,
+            -16.909213262104956,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            40.665663331834665,
+            -18.409213262104956,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            38.06758712048135,
+            -19.909213262104956,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            20.0,
+            -40.0,
+            31.11
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_3-57-26_829570037/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_3-57-26_829570037/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a242fad2fe1bc54711fbec383bd3f9f915e6459e
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_3-57-26_829570037/pose.jsonl
@@ -0,0 +1,652 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            301.0779760245014,
+            495.1641243864382,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            303.67605223585474,
+            493.6641243864382,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            306.27412844720806,
+            492.1641243864382,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            308.8722046585614,
+            490.6641243864382,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            311.4702808699147,
+            489.1641243864382,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            314.068357081268,
+            487.6641243864382,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            316.6664332926213,
+            486.1641243864382,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            316.6664332926213,
+            486.1641243864382,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            318.1664332926213,
+            483.56604817508486,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            319.6664332926213,
+            480.96797196373154,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            321.1664332926213,
+            478.3698957523782,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            322.6664332926213,
+            475.7718195410249,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            324.1664332926213,
+            473.1737433296716,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            325.6664332926213,
+            470.5756671183183,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            325.6664332926213,
+            470.5756671183183,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            325.6664332926213,
+            467.5756671183183,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            325.6664332926213,
+            464.5756671183183,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            325.6664332926213,
+            464.5756671183183,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            325.6664332926213,
+            464.5756671183183,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982989
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            328.26450950397464,
+            463.0756671183183,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            330.86258571532795,
+            461.5756671183183,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            333.46066192668127,
+            460.0756671183183,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            336.0587381380346,
+            458.5756671183183,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            338.6568143493879,
+            457.0756671183183,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            341.2548905607412,
+            455.5756671183183,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            343.85296677209453,
+            454.0756671183183,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            346.45104298344785,
+            452.5756671183183,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            349.04911919480116,
+            451.0756671183183,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            351.6471954061545,
+            449.5756671183183,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            354.2452716175078,
+            448.0756671183183,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            356.8433478288611,
+            446.5756671183183,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            359.44142404021443,
+            445.0756671183183,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            362.03950025156774,
+            443.5756671183183,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            364.63757646292106,
+            442.0756671183183,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            367.2356526742744,
+            440.5756671183183,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            369.8337288856277,
+            439.0756671183183,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            372.431805096981,
+            437.5756671183183,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            375.0298813083343,
+            436.0756671183183,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            377.62795751968764,
+            434.5756671183183,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            380.22603373104096,
+            433.0756671183183,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            382.8241099423943,
+            431.5756671183183,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            385.4221861537476,
+            430.0756671183183,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            388.0202623651009,
+            428.5756671183183,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            390.6183385764542,
+            427.0756671183183,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            393.21641478780754,
+            425.5756671183183,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            393.21641478780754,
+            425.5756671183183,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            394.71641478780754,
+            422.97759090696496,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            396.21641478780754,
+            420.37951469561165,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            397.71641478780754,
+            417.78143848425833,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            436.0,
+            384.0,
+            -0.096741
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_4-1-53_849725352/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_4-1-53_849725352/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a07db27096ffc5504702ab6de793b39f2a7a64d5
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_4-1-53_849725352/pose.jsonl
@@ -0,0 +1,795 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1976.9320745938835,
+            717.165478147099,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1974.3339983825301,
+            718.665478147099,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1971.7359221711768,
+            720.165478147099,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1969.1378459598234,
+            721.665478147099,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1966.53976974847,
+            723.165478147099,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1963.9416935371166,
+            724.665478147099,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1961.3436173257633,
+            726.165478147099,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1958.74554111441,
+            727.665478147099,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1956.1474649030565,
+            729.165478147099,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1953.5493886917031,
+            730.665478147099,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1950.9513124803498,
+            732.165478147099,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1948.3532362689964,
+            733.665478147099,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1945.755160057643,
+            735.165478147099,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1943.1570838462897,
+            736.665478147099,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1940.5590076349363,
+            738.165478147099,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1937.960931423583,
+            739.665478147099,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1935.3628552122295,
+            741.165478147099,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1932.7647790008762,
+            742.665478147099,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1930.1667027895228,
+            744.165478147099,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1927.5686265781694,
+            745.665478147099,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1924.970550366816,
+            747.165478147099,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1922.3724741554627,
+            748.665478147099,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1919.7743979441093,
+            750.165478147099,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1917.176321732756,
+            751.665478147099,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1914.5782455214026,
+            753.165478147099,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1911.9801693100492,
+            754.665478147099,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1911.9801693100492,
+            754.665478147099,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1911.9801693100492,
+            754.665478147099,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188101
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1909.3820930986958,
+            753.165478147099,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1906.7840168873424,
+            751.665478147099,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1906.7840168873424,
+            751.665478147099,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1903.7840168873424,
+            751.665478147099,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1900.7840168873424,
+            751.665478147099,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1897.7840168873424,
+            751.665478147099,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1894.7840168873424,
+            751.665478147099,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1894.7840168873424,
+            751.665478147099,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1894.7840168873424,
+            751.665478147099,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1893.2840168873424,
+            754.2635543584522,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1891.7840168873424,
+            756.8616305698056,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1890.2840168873424,
+            759.459706781159,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1888.7840168873424,
+            762.0577829925123,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1887.2840168873424,
+            764.6558592038657,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1885.7840168873424,
+            767.2539354152191,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1884.2840168873424,
+            769.8520116265724,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1882.7840168873424,
+            772.4500878379258,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1881.2840168873424,
+            775.0481640492792,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1879.7840168873424,
+            777.6462402606326,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1879.7840168873424,
+            777.6462402606326,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1879.7840168873424,
+            780.6462402606326,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1879.7840168873424,
+            783.6462402606326,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            1879.7840168873424,
+            786.6462402606326,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            1879.7840168873424,
+            789.6462402606326,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            1879.7840168873424,
+            792.6462402606326,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            1879.7840168873424,
+            795.6462402606326,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            1879.7840168873424,
+            798.6462402606326,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            1879.7840168873424,
+            801.6462402606326,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            1879.7840168873424,
+            804.6462402606326,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            1879.7840168873424,
+            807.6462402606326,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            1879.7840168873424,
+            810.6462402606326,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            1879.7840168873424,
+            813.6462402606326,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1856.0,
+            840.0,
+            -10.4725
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_4-23-5_1607774548/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_4-23-5_1607774548/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a7812275844bd53e4b28fc20672817e78078b05b
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_4-23-5_1607774548/pose.jsonl
@@ -0,0 +1,496 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            849.7025000946328,
+            611.4036456428646,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            852.7025000946328,
+            611.4036456428646,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            855.7025000946328,
+            611.4036456428646,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            855.7025000946328,
+            611.4036456428646,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            855.7025000946328,
+            611.4036456428646,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            857.2025000946328,
+            614.001721854218,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            858.7025000946328,
+            616.5997980655713,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            860.2025000946328,
+            619.1978742769247,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            861.7025000946328,
+            621.7959504882781,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            863.2025000946328,
+            624.3940266996315,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            864.7025000946328,
+            626.9921029109848,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            866.2025000946328,
+            629.5901791223382,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            867.7025000946328,
+            632.1882553336916,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            869.2025000946328,
+            634.786331545045,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            870.7025000946328,
+            637.3844077563983,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            872.2025000946328,
+            639.9824839677517,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            873.7025000946328,
+            642.5805601791051,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            875.2025000946328,
+            645.1786363904585,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            876.7025000946328,
+            647.7767126018118,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            878.2025000946328,
+            650.3747888131652,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            879.7025000946328,
+            652.9728650245186,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            881.2025000946328,
+            655.5709412358719,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            882.7025000946328,
+            658.1690174472253,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            884.2025000946328,
+            660.7670936585787,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            885.7025000946328,
+            663.3651698699321,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            887.2025000946328,
+            665.9632460812854,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            888.7025000946328,
+            668.5613222926388,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            890.2025000946328,
+            671.1593985039922,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            891.7025000946328,
+            673.7574747153456,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            893.2025000946328,
+            676.3555509266989,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            894.7025000946328,
+            678.9536271380523,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            896.2025000946328,
+            681.5517033494057,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            897.7025000946328,
+            684.149779560759,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            899.2025000946328,
+            686.7478557721124,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            899.2025000946328,
+            686.7478557721124,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            901.8005763059862,
+            688.2478557721124,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            904.3986525173395,
+            689.7478557721124,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            940.0,
+            736.0,
+            0.328175
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_4-41-41_1172063133/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_4-41-41_1172063133/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5ba2c775ff602dce6c0ef577ce8ebb3a4424bbc6
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_4-41-41_1172063133/pose.jsonl
@@ -0,0 +1,730 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            505.553444534208,
+            -54.743816604741,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            507.053444534208,
+            -57.341892816094315,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            508.553444534208,
+            -59.93996902744763,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            510.053444534208,
+            -62.53804523880095,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            511.553444534208,
+            -65.13612145015426,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            513.053444534208,
+            -67.73419766150758,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            514.553444534208,
+            -70.3322738728609,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            516.053444534208,
+            -72.93035008421421,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            517.553444534208,
+            -75.52842629556753,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            519.053444534208,
+            -78.12650250692084,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            520.553444534208,
+            -80.72457871827416,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            522.053444534208,
+            -83.32265492962748,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            523.553444534208,
+            -85.92073114098079,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            525.053444534208,
+            -88.51880735233411,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            525.053444534208,
+            -88.51880735233411,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            525.053444534208,
+            -91.51880735233411,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            525.053444534208,
+            -94.51880735233411,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            525.053444534208,
+            -97.51880735233411,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            525.053444534208,
+            -100.51880735233411,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            525.053444534208,
+            -103.51880735233411,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            525.053444534208,
+            -106.51880735233411,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            525.053444534208,
+            -109.51880735233411,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            525.053444534208,
+            -112.51880735233411,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            525.053444534208,
+            -115.51880735233411,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            525.053444534208,
+            -118.51880735233411,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            525.053444534208,
+            -121.51880735233411,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            525.053444534208,
+            -124.51880735233411,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            525.053444534208,
+            -127.51880735233411,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            525.053444534208,
+            -130.5188073523341,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            525.053444534208,
+            -133.5188073523341,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            525.053444534208,
+            -136.5188073523341,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            525.053444534208,
+            -139.5188073523341,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            525.053444534208,
+            -139.5188073523341,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            526.553444534208,
+            -142.11688356368742,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            528.053444534208,
+            -144.71495977504074,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            529.553444534208,
+            -147.31303598639406,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            531.053444534208,
+            -149.91111219774737,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            532.553444534208,
+            -152.5091884091007,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            534.053444534208,
+            -155.107264620454,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            535.553444534208,
+            -157.70534083180732,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            537.053444534208,
+            -160.30341704316064,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            538.553444534208,
+            -162.90149325451395,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            540.053444534208,
+            -165.49956946586727,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            541.553444534208,
+            -168.09764567722058,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            543.053444534208,
+            -170.6957218885739,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            544.553444534208,
+            -173.29379809992722,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            546.053444534208,
+            -175.89187431128053,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            547.553444534208,
+            -178.48995052263385,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            549.053444534208,
+            -181.08802673398716,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            550.553444534208,
+            -183.68610294534048,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            552.053444534208,
+            -186.2841791566938,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            553.553444534208,
+            -188.8822553680471,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            555.053444534208,
+            -191.48033157940043,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            556.553444534208,
+            -194.07840779075374,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            558.053444534208,
+            -196.67648400210706,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            564.0,
+            -220.0,
+            16.8381
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_4-8-23_1671581032/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_4-8-23_1671581032/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..aa83b15efc00e45132f44a753cbc67de67a7c263
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_4-8-23_1671581032/pose.jsonl
@@ -0,0 +1,730 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1870.5278124047434,
+            586.691720211747,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1873.5278124047434,
+            586.691720211747,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1876.5278124047434,
+            586.691720211747,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1879.5278124047434,
+            586.691720211747,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1882.5278124047434,
+            586.691720211747,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1882.5278124047434,
+            586.691720211747,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1885.1258886160967,
+            585.191720211747,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1887.7239648274501,
+            583.691720211747,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1890.3220410388035,
+            582.191720211747,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1892.9201172501569,
+            580.691720211747,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1895.5181934615102,
+            579.191720211747,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1898.1162696728636,
+            577.691720211747,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1900.714345884217,
+            576.191720211747,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1903.3124220955704,
+            574.691720211747,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1905.9104983069237,
+            573.191720211747,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1908.508574518277,
+            571.691720211747,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1911.1066507296305,
+            570.191720211747,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1913.7047269409838,
+            568.691720211747,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1916.3028031523372,
+            567.191720211747,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1918.9008793636906,
+            565.691720211747,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1921.498955575044,
+            564.191720211747,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1924.0970317863973,
+            562.691720211747,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1926.6951079977507,
+            561.191720211747,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1929.293184209104,
+            559.691720211747,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1931.8912604204575,
+            558.191720211747,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1931.8912604204575,
+            558.191720211747,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1933.3912604204575,
+            555.5936440003936,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1934.8912604204575,
+            552.9955677890403,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1936.3912604204575,
+            550.3974915776869,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1937.8912604204575,
+            547.7994153663335,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1939.3912604204575,
+            545.2013391549801,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1940.8912604204575,
+            542.6032629436268,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1942.3912604204575,
+            540.0051867322734,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1943.8912604204575,
+            537.40711052092,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1945.3912604204575,
+            534.8090343095666,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1946.8912604204575,
+            532.2109580982133,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1948.3912604204575,
+            529.6128818868599,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1949.8912604204575,
+            527.0148056755065,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1951.3912604204575,
+            524.4167294641531,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1952.8912604204575,
+            521.8186532527998,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1954.3912604204575,
+            519.2205770414464,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1955.8912604204575,
+            516.622500830093,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1957.3912604204575,
+            514.0244246187397,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1958.8912604204575,
+            511.42634840738634,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1960.3912604204575,
+            508.828272196033,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1961.8912604204575,
+            506.2301959846797,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1963.3912604204575,
+            503.6321197733264,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1964.8912604204575,
+            501.0340435619731,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1966.3912604204575,
+            498.43596735061976,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1967.8912604204575,
+            495.83789113926645,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            1969.3912604204575,
+            493.23981492791313,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            1970.8912604204575,
+            490.6417387165598,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            1970.8912604204575,
+            490.6417387165598,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            1973.4893366318108,
+            489.1417387165598,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            1976.0874128431642,
+            487.6417387165598,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1996.0,
+            468.0,
+            64.6317
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_4-9-14_158136104/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_4-9-14_158136104/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..17ee5f4b37f5adf5778a16369e6e376e5a7a3b6d
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_4-9-14_158136104/pose.jsonl
@@ -0,0 +1,704 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            755.4055373825415,
+            -19.60824473892083,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            758.0036135938949,
+            -21.10824473892083,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            760.6016898052483,
+            -22.60824473892083,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            763.1997660166016,
+            -24.10824473892083,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            765.797842227955,
+            -25.60824473892083,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            768.3959184393084,
+            -27.10824473892083,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            770.9939946506618,
+            -28.60824473892083,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            773.5920708620151,
+            -30.10824473892083,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            773.5920708620151,
+            -30.10824473892083,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            773.5920708620151,
+            -30.10824473892083,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.570796326794887
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            773.5920708620151,
+            -33.10824473892083,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            773.5920708620151,
+            -36.10824473892083,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            773.5920708620151,
+            -39.10824473892083,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            773.5920708620151,
+            -42.10824473892083,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            773.5920708620151,
+            -45.10824473892083,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            773.5920708620151,
+            -48.10824473892083,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            773.5920708620151,
+            -51.10824473892083,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            773.5920708620151,
+            -54.10824473892083,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            773.5920708620151,
+            -57.10824473892083,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            773.5920708620151,
+            -60.10824473892083,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            773.5920708620151,
+            -63.10824473892083,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            773.5920708620151,
+            -66.10824473892083,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            773.5920708620151,
+            -69.10824473892083,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            773.5920708620151,
+            -72.10824473892083,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            773.5920708620151,
+            -75.10824473892083,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            773.5920708620151,
+            -78.10824473892083,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            773.5920708620151,
+            -81.10824473892083,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            773.5920708620151,
+            -84.10824473892083,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            773.5920708620151,
+            -87.10824473892083,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            773.5920708620151,
+            -90.10824473892083,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            773.5920708620151,
+            -93.10824473892083,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            773.5920708620151,
+            -96.10824473892083,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            773.5920708620151,
+            -99.10824473892083,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            773.5920708620151,
+            -102.10824473892083,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            773.5920708620151,
+            -105.10824473892083,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            773.5920708620151,
+            -108.10824473892083,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            773.5920708620151,
+            -111.10824473892083,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            773.5920708620151,
+            -114.10824473892083,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            773.5920708620151,
+            -117.10824473892083,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            773.5920708620151,
+            -120.10824473892083,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            773.5920708620151,
+            -120.10824473892083,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            775.0920708620151,
+            -122.70632095027415,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            776.5920708620151,
+            -125.30439716162746,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            778.0920708620151,
+            -127.90247337298078,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            779.5920708620151,
+            -130.5005495843341,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            781.0920708620151,
+            -133.0986257956874,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            782.5920708620151,
+            -135.69670200704073,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            784.0920708620151,
+            -138.29477821839404,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            785.5920708620151,
+            -140.89285442974736,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            787.0920708620151,
+            -143.49093064110068,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            787.0920708620151,
+            -143.49093064110068,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            787.0920708620151,
+            -146.49093064110068,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            787.0920708620151,
+            -149.49093064110068,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            792.0,
+            -168.0,
+            -3.30387
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_5-20-9_213952386/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_5-20-9_213952386/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a9dd8af392b62daefcf6f5d19f5f03a34cd34c07
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_5-20-9_213952386/pose.jsonl
@@ -0,0 +1,769 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1854.9071272016524,
+            330.1750263295189,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1857.9071272016524,
+            330.1750263295189,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1860.9071272016524,
+            330.1750263295189,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1863.9071272016524,
+            330.1750263295189,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1866.9071272016524,
+            330.1750263295189,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1869.9071272016524,
+            330.1750263295189,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1869.9071272016524,
+            330.1750263295189,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1869.9071272016524,
+            330.1750263295189,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1871.4071272016524,
+            332.77310254087223,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1872.9071272016524,
+            335.37117875222555,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1874.4071272016524,
+            337.96925496357886,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1875.9071272016524,
+            340.5673311749322,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1877.4071272016524,
+            343.1654073862855,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1878.9071272016524,
+            345.7634835976388,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1880.4071272016524,
+            348.3615598089921,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1881.9071272016524,
+            350.95963602034544,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1883.4071272016524,
+            353.55771223169876,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1884.9071272016524,
+            356.1557884430521,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1886.4071272016524,
+            358.7538646544054,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1886.4071272016524,
+            358.7538646544054,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1889.0052034130058,
+            360.2538646544054,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1891.6032796243592,
+            361.7538646544054,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1894.2013558357125,
+            363.2538646544054,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1896.799432047066,
+            364.7538646544054,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1899.3975082584193,
+            366.2538646544054,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1901.9955844697727,
+            367.7538646544054,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1904.593660681126,
+            369.2538646544054,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1907.1917368924794,
+            370.7538646544054,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1909.7898131038328,
+            372.2538646544054,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1912.3878893151862,
+            373.7538646544054,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1914.9859655265395,
+            375.2538646544054,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1917.584041737893,
+            376.7538646544054,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1920.1821179492463,
+            378.2538646544054,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1922.7801941605996,
+            379.7538646544054,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1925.378270371953,
+            381.2538646544054,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1927.9763465833064,
+            382.7538646544054,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1930.5744227946598,
+            384.2538646544054,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1933.1724990060131,
+            385.7538646544054,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1935.7705752173665,
+            387.2538646544054,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1938.3686514287199,
+            388.7538646544054,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1940.9667276400733,
+            390.2538646544054,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1943.5648038514266,
+            391.7538646544054,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1943.5648038514266,
+            391.7538646544054,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -9.43689570931383e-15
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1946.5648038514266,
+            391.7538646544054,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1949.5648038514266,
+            391.7538646544054,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1952.5648038514266,
+            391.7538646544054,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1955.5648038514266,
+            391.7538646544054,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1958.5648038514266,
+            391.7538646544054,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1961.5648038514266,
+            391.7538646544054,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1964.5648038514266,
+            391.7538646544054,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            1967.5648038514266,
+            391.7538646544054,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            1970.5648038514266,
+            391.7538646544054,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            1973.5648038514266,
+            391.7538646544054,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            1976.5648038514266,
+            391.7538646544054,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            1979.5648038514266,
+            391.7538646544054,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            1982.5648038514266,
+            391.7538646544054,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            1985.5648038514266,
+            391.7538646544054,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            1988.5648038514266,
+            391.7538646544054,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            2004.0,
+            400.0,
+            26.235
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_5-25-15_499429649/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_5-25-15_499429649/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bae27c054a1a70971ffad643342605ffe75c2bcb
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_5-25-15_499429649/pose.jsonl
@@ -0,0 +1,600 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            655.0926878692044,
+            -94.33208179935932,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            658.0926878692044,
+            -94.33208179935932,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            661.0926878692044,
+            -94.33208179935932,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            664.0926878692044,
+            -94.33208179935932,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            667.0926878692044,
+            -94.33208179935932,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            670.0926878692044,
+            -94.33208179935932,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            673.0926878692044,
+            -94.33208179935932,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            676.0926878692044,
+            -94.33208179935932,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            679.0926878692044,
+            -94.33208179935932,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            682.0926878692044,
+            -94.33208179935932,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            685.0926878692044,
+            -94.33208179935932,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            688.0926878692044,
+            -94.33208179935932,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            691.0926878692044,
+            -94.33208179935932,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            694.0926878692044,
+            -94.33208179935932,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            697.0926878692044,
+            -94.33208179935932,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            700.0926878692044,
+            -94.33208179935932,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            703.0926878692044,
+            -94.33208179935932,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            706.0926878692044,
+            -94.33208179935932,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            709.0926878692044,
+            -94.33208179935932,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            712.0926878692044,
+            -94.33208179935932,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            715.0926878692044,
+            -94.33208179935932,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            718.0926878692044,
+            -94.33208179935932,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            721.0926878692044,
+            -94.33208179935932,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            724.0926878692044,
+            -94.33208179935932,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            727.0926878692044,
+            -94.33208179935932,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            730.0926878692044,
+            -94.33208179935932,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            730.0926878692044,
+            -94.33208179935932,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            732.6907640805578,
+            -92.83208179935932,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            735.2888402919111,
+            -91.33208179935932,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            737.8869165032645,
+            -89.83208179935932,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            740.4849927146179,
+            -88.33208179935932,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            743.0830689259712,
+            -86.83208179935932,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            745.6811451373246,
+            -85.33208179935932,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            748.279221348678,
+            -83.83208179935932,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            750.8772975600314,
+            -82.33208179935932,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            753.4753737713847,
+            -80.83208179935932,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            756.0734499827381,
+            -79.33208179935932,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            758.6715261940915,
+            -77.83208179935932,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            761.2696024054449,
+            -76.33208179935932,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            763.8676786167982,
+            -74.83208179935932,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            766.4657548281516,
+            -73.33208179935932,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            769.063831039505,
+            -71.83208179935932,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            771.6619072508583,
+            -70.33208179935932,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            774.2599834622117,
+            -68.83208179935932,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            776.8580596735651,
+            -67.33208179935932,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            828.0,
+            -52.0,
+            0.708504
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_5-34-38_1692786742/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_5-34-38_1692786742/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..619583dac91d81f89a6f87e25df60de538474243
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_5-34-38_1692786742/pose.jsonl
@@ -0,0 +1,704 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1841.41491688985,
+            124.32471709135493,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1839.91491688985,
+            121.72664088000161,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1838.41491688985,
+            119.1285646686483,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1836.91491688985,
+            116.53048845729498,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1835.41491688985,
+            113.93241224594166,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1833.91491688985,
+            111.33433603458835,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1832.41491688985,
+            108.73625982323503,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1830.91491688985,
+            106.13818361188171,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1829.41491688985,
+            103.5401074005284,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1827.91491688985,
+            100.94203118917508,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1826.41491688985,
+            98.34395497782177,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1824.91491688985,
+            95.74587876646845,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1823.41491688985,
+            93.14780255511513,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1821.91491688985,
+            90.54972634376182,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1820.41491688985,
+            87.9516501324085,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1818.91491688985,
+            85.35357392105519,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1817.41491688985,
+            82.75549770970187,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1815.91491688985,
+            80.15742149834855,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1814.41491688985,
+            77.55934528699524,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1812.91491688985,
+            74.96126907564192,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1811.41491688985,
+            72.3631928642886,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1809.91491688985,
+            69.76511665293529,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1808.41491688985,
+            67.16704044158197,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1806.91491688985,
+            64.56896423022866,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1805.41491688985,
+            61.97088801887534,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1803.91491688985,
+            59.37281180752203,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1802.41491688985,
+            56.77473559616871,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1800.91491688985,
+            54.176659384815395,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1799.41491688985,
+            51.57858317346208,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1797.91491688985,
+            48.98050696210876,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1796.41491688985,
+            46.38243075075545,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1794.91491688985,
+            43.78435453940213,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1793.41491688985,
+            41.186278328048815,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1791.91491688985,
+            38.5882021166955,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1791.91491688985,
+            38.5882021166955,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1791.91491688985,
+            35.5882021166955,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1791.91491688985,
+            32.5882021166955,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1791.91491688985,
+            29.5882021166955,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1791.91491688985,
+            26.5882021166955,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1791.91491688985,
+            23.5882021166955,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1791.91491688985,
+            20.5882021166955,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1791.91491688985,
+            17.5882021166955,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1791.91491688985,
+            14.588202116695498,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1791.91491688985,
+            11.588202116695498,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1791.91491688985,
+            8.588202116695498,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1791.91491688985,
+            5.5882021166954985,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1791.91491688985,
+            2.5882021166954985,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1791.91491688985,
+            -0.4117978833045015,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1791.91491688985,
+            -3.4117978833045015,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1791.91491688985,
+            -6.4117978833045015,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            1791.91491688985,
+            -9.411797883304502,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            1791.91491688985,
+            -12.411797883304502,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            1791.91491688985,
+            -15.411797883304502,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1784.0,
+            -44.0,
+            0.756577
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_5-43-38_100669/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_5-43-38_100669/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3ec049bc17d2d2aba691b97a1157828ecbe50d7d
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_5-43-38_100669/pose.jsonl
@@ -0,0 +1,795 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            267.00352629423185,
+            314.2855683440231,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            268.50352629423185,
+            311.6874921326698,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            270.00352629423185,
+            309.08941592131646,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            271.50352629423185,
+            306.49133970996314,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            273.00352629423185,
+            303.8932634986098,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            274.50352629423185,
+            301.2951872872565,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            276.00352629423185,
+            298.6971110759032,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            277.50352629423185,
+            296.0990348645499,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            279.00352629423185,
+            293.50095865319656,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            280.50352629423185,
+            290.90288244184325,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            282.00352629423185,
+            288.30480623048993,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            283.50352629423185,
+            285.7067300191366,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            285.00352629423185,
+            283.1086538077833,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            286.50352629423185,
+            280.51057759643,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            288.00352629423185,
+            277.91250138507667,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            289.50352629423185,
+            275.31442517372335,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            291.00352629423185,
+            272.71634896237003,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            292.50352629423185,
+            270.1182727510167,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            294.00352629423185,
+            267.5201965396634,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            295.50352629423185,
+            264.9221203283101,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            295.50352629423185,
+            264.9221203283101,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            295.50352629423185,
+            261.9221203283101,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            295.50352629423185,
+            258.9221203283101,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            295.50352629423185,
+            255.9221203283101,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            295.50352629423185,
+            252.9221203283101,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            295.50352629423185,
+            249.9221203283101,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            295.50352629423185,
+            246.9221203283101,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            295.50352629423185,
+            243.9221203283101,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            295.50352629423185,
+            240.9221203283101,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            295.50352629423185,
+            240.9221203283101,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            297.00352629423185,
+            238.32404411695677,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            298.50352629423185,
+            235.72596790560345,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            300.00352629423185,
+            233.12789169425014,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            301.50352629423185,
+            230.52981548289682,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            303.00352629423185,
+            227.9317392715435,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            304.50352629423185,
+            225.3336630601902,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            306.00352629423185,
+            222.73558684883687,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            307.50352629423185,
+            220.13751063748356,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            309.00352629423185,
+            217.53943442613024,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            310.50352629423185,
+            214.94135821477693,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            312.00352629423185,
+            212.3432820034236,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            312.00352629423185,
+            212.3432820034236,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            314.60160250558516,
+            210.8432820034236,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            317.1996787169385,
+            209.3432820034236,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            319.7977549282918,
+            207.8432820034236,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            322.3958311396451,
+            206.3432820034236,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            324.9939073509984,
+            204.8432820034236,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            327.59198356235174,
+            203.3432820034236,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            330.19005977370506,
+            201.8432820034236,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            332.7881359850584,
+            200.3432820034236,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            335.3862121964117,
+            198.8432820034236,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            337.984288407765,
+            197.3432820034236,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            340.5823646191183,
+            195.8432820034236,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            343.18044083047164,
+            194.3432820034236,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            345.77851704182495,
+            192.8432820034236,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            345.77851704182495,
+            192.8432820034236,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            347.27851704182495,
+            190.2452057920703,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            348.77851704182495,
+            187.64712958071698,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            350.27851704182495,
+            185.04905336936366,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            351.77851704182495,
+            182.45097715801035,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            364.0,
+            164.0,
+            16.579
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_5-50-48_1424321892/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_5-50-48_1424321892/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..552a33e3712e7ee66d4c85c97a7d021e98e58502
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_5-50-48_1424321892/pose.jsonl
@@ -0,0 +1,522 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -148.20796046743035,
+            -371.8783428629096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -145.20796046743035,
+            -371.8783428629096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -142.20796046743035,
+            -371.8783428629096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -139.20796046743035,
+            -371.8783428629096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -136.20796046743035,
+            -371.8783428629096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -133.20796046743035,
+            -371.8783428629096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -130.20796046743035,
+            -371.8783428629096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -127.20796046743035,
+            -371.8783428629096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -124.20796046743035,
+            -371.8783428629096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -121.20796046743035,
+            -371.8783428629096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -118.20796046743035,
+            -371.8783428629096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -115.20796046743035,
+            -371.8783428629096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -112.20796046743035,
+            -371.8783428629096,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -112.20796046743035,
+            -371.8783428629096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -109.60988425607704,
+            -370.3783428629096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -107.01180804472372,
+            -368.8783428629096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -104.4137318333704,
+            -367.3783428629096,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -104.4137318333704,
+            -367.3783428629096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -101.4137318333704,
+            -367.3783428629096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -98.4137318333704,
+            -367.3783428629096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -95.4137318333704,
+            -367.3783428629096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -92.4137318333704,
+            -367.3783428629096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -89.4137318333704,
+            -367.3783428629096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -86.4137318333704,
+            -367.3783428629096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -83.4137318333704,
+            -367.3783428629096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -80.4137318333704,
+            -367.3783428629096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -77.4137318333704,
+            -367.3783428629096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -74.4137318333704,
+            -367.3783428629096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -71.4137318333704,
+            -367.3783428629096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -68.4137318333704,
+            -367.3783428629096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -65.4137318333704,
+            -367.3783428629096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -62.413731833370406,
+            -367.3783428629096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -59.413731833370406,
+            -367.3783428629096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -56.413731833370406,
+            -367.3783428629096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -53.413731833370406,
+            -367.3783428629096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -50.413731833370406,
+            -367.3783428629096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -47.413731833370406,
+            -367.3783428629096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -44.413731833370406,
+            -367.3783428629096,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -41.413731833370406,
+            -367.3783428629096,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            12.0,
+            -368.0,
+            -0.096958
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_5-8-32_572132557/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_5-8-32_572132557/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5d978c0aa2ac2c7b5fd6b9ccf377ecfc4b712602
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_5-8-32_572132557/pose.jsonl
@@ -0,0 +1,665 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            143.55404525509482,
+            72.27296280853062,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            140.9559690437415,
+            70.77296280853062,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            138.3578928323882,
+            69.27296280853062,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            135.75981662103487,
+            67.77296280853062,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            133.16174040968156,
+            66.27296280853062,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            130.56366419832824,
+            64.77296280853062,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            127.96558798697492,
+            63.27296280853062,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            125.36751177562161,
+            61.77296280853062,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            122.76943556426829,
+            60.27296280853062,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            120.17135935291498,
+            58.77296280853062,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            120.17135935291498,
+            58.77296280853062,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            118.67135935291498,
+            56.174886597177306,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            117.17135935291498,
+            53.57681038582399,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            115.67135935291498,
+            50.978734174470674,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            114.17135935291498,
+            48.38065796311736,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            112.67135935291498,
+            45.78258175176404,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            111.17135935291498,
+            43.184505540410726,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            109.67135935291498,
+            40.58642932905741,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            108.17135935291498,
+            37.988353117704094,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            106.67135935291498,
+            35.39027690635078,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            105.17135935291498,
+            32.79220069499746,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            103.67135935291498,
+            30.194124483644146,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            102.17135935291498,
+            27.59604827229083,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            100.67135935291498,
+            24.997972060937514,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            99.17135935291498,
+            22.399895849584198,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            97.67135935291498,
+            19.80181963823088,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            96.17135935291498,
+            17.203743426877566,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            94.67135935291498,
+            14.60566721552425,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            93.17135935291498,
+            12.007591004170934,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            91.67135935291498,
+            9.409514792817617,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            90.17135935291498,
+            6.8114385814643015,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            88.67135935291498,
+            4.2133623701109855,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            88.67135935291498,
+            4.2133623701109855,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            86.07328314156166,
+            2.7133623701109855,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            83.47520693020834,
+            1.2133623701109857,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            80.87713071885503,
+            -0.2866376298890141,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            78.27905450750171,
+            -1.7866376298890139,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            75.6809782961484,
+            -3.2866376298890136,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            73.08290208479508,
+            -4.786637629889014,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            70.48482587344176,
+            -6.286637629889014,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            67.88674966208845,
+            -7.786637629889014,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            65.28867345073513,
+            -9.286637629889013,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991495
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            62.690597239381816,
+            -10.786637629889013,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            60.0925210280285,
+            -12.286637629889013,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            57.494444816675184,
+            -13.786637629889013,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            54.89636860532187,
+            -15.286637629889013,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            52.29829239396855,
+            -16.78663762988901,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991495
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            49.700216182615236,
+            -18.28663762988901,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            47.10213997126192,
+            -19.78663762988901,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            44.504063759908604,
+            -21.28663762988901,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            20.0,
+            -40.0,
+            31.11
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_6-12-20_1947867422/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_6-12-20_1947867422/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7dc321559ab5b9f59e5c5e20e335548a857795f0
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_6-12-20_1947867422/pose.jsonl
@@ -0,0 +1,782 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1853.0515939383129,
+            -13.808919298362753,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1854.5515939383129,
+            -11.210843087009437,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1856.0515939383129,
+            -8.61276687565612,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1857.5515939383129,
+            -6.014690664302805,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1859.0515939383129,
+            -3.4166144529494886,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1859.0515939383129,
+            -3.4166144529494886,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1859.0515939383129,
+            -3.4166144529494886,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.220446049250313e-16
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1862.0515939383129,
+            -3.4166144529494886,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1862.0515939383129,
+            -3.4166144529494886,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1862.0515939383129,
+            -3.4166144529494886,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1862.0515939383129,
+            -3.4166144529494886,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1862.0515939383129,
+            -0.4166144529494886,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1862.0515939383129,
+            2.5833855470505114,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1862.0515939383129,
+            5.583385547050511,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1862.0515939383129,
+            8.583385547050511,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1862.0515939383129,
+            11.583385547050511,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1862.0515939383129,
+            14.583385547050511,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1862.0515939383129,
+            17.58338554705051,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1862.0515939383129,
+            20.58338554705051,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1862.0515939383129,
+            20.58338554705051,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1862.0515939383129,
+            20.58338554705051,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1859.4535177269595,
+            22.08338554705051,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1859.4535177269595,
+            22.08338554705051,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1857.9535177269595,
+            24.681461758403827,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1856.4535177269595,
+            27.279537969757143,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1854.9535177269595,
+            29.87761418111046,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1853.4535177269595,
+            32.475690392463775,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1851.9535177269595,
+            35.07376660381709,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1850.4535177269595,
+            37.67184281517041,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1848.9535177269595,
+            40.26991902652372,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1847.4535177269595,
+            42.86799523787704,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1845.9535177269595,
+            45.466071449230355,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1844.4535177269595,
+            48.06414766058367,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1842.9535177269595,
+            50.66222387193699,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1841.4535177269595,
+            53.2603000832903,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1841.4535177269595,
+            53.2603000832903,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1838.8554415156061,
+            54.7603000832903,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1836.2573653042527,
+            56.2603000832903,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1833.6592890928994,
+            57.7603000832903,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1831.061212881546,
+            59.2603000832903,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1828.4631366701926,
+            60.7603000832903,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1825.8650604588393,
+            62.2603000832903,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1823.2669842474859,
+            63.7603000832903,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1820.6689080361325,
+            65.2603000832903,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1818.0708318247791,
+            66.7603000832903,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1815.4727556134258,
+            68.2603000832903,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1812.8746794020724,
+            69.7603000832903,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1810.276603190719,
+            71.2603000832903,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1807.6785269793656,
+            72.7603000832903,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1805.0804507680123,
+            74.2603000832903,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            1802.482374556659,
+            75.7603000832903,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            1799.8842983453055,
+            77.2603000832903,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            1797.2862221339522,
+            78.7603000832903,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            1794.6881459225988,
+            80.2603000832903,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            1794.6881459225988,
+            80.2603000832903,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            1793.1881459225988,
+            82.85837629464362,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            1791.6881459225988,
+            85.45645250599694,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            1790.1881459225988,
+            88.05452871735025,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            1788.6881459225988,
+            90.65260492870357,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1772.0,
+            120.0,
+            -7.2498
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_6-41-30_78417603/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_6-41-30_78417603/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9d13d8447ecc1be4bf67356045f640a9fbaeabc6
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_6-41-30_78417603/pose.jsonl
@@ -0,0 +1,652 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1935.6868033073176,
+            602.6589894718032,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1933.0887270959643,
+            601.1589894718032,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1930.4906508846109,
+            599.6589894718032,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1927.8925746732575,
+            598.1589894718032,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1925.2944984619041,
+            596.6589894718032,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1922.6964222505508,
+            595.1589894718032,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1920.0983460391974,
+            593.6589894718032,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1917.500269827844,
+            592.1589894718032,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1914.9021936164906,
+            590.6589894718032,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1912.3041174051373,
+            589.1589894718032,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1909.706041193784,
+            587.6589894718032,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1907.1079649824305,
+            586.1589894718032,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1904.5098887710772,
+            584.6589894718032,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1901.9118125597238,
+            583.1589894718032,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1899.3137363483704,
+            581.6589894718032,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1896.715660137017,
+            580.1589894718032,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1894.1175839256637,
+            578.6589894718032,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1891.5195077143103,
+            577.1589894718032,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1891.5195077143103,
+            577.1589894718032,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1890.0195077143103,
+            574.56091326045,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1888.5195077143103,
+            571.9628370490966,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1887.0195077143103,
+            569.3647608377432,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1885.5195077143103,
+            566.7666846263899,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1884.0195077143103,
+            564.1686084150365,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1882.5195077143103,
+            561.5705322036831,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1881.0195077143103,
+            558.9724559923297,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1879.5195077143103,
+            556.3743797809764,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1878.0195077143103,
+            553.776303569623,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1876.5195077143103,
+            551.1782273582696,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1875.0195077143103,
+            548.5801511469163,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1873.5195077143103,
+            545.9820749355629,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1872.0195077143103,
+            543.3839987242095,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1870.5195077143103,
+            540.7859225128561,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1869.0195077143103,
+            538.1878463015028,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1867.5195077143103,
+            535.5897700901494,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1866.0195077143103,
+            532.991693878796,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1864.5195077143103,
+            530.3936176674426,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1863.0195077143103,
+            527.7955414560893,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1861.5195077143103,
+            525.1974652447359,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1860.0195077143103,
+            522.5993890333825,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1858.5195077143103,
+            520.0013128220291,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1858.5195077143103,
+            520.0013128220291,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1855.921431502957,
+            518.5013128220291,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1853.3233552916035,
+            517.0013128220291,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1850.7252790802502,
+            515.5013128220291,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1848.1272028688968,
+            514.0013128220291,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1845.5291266575434,
+            512.5013128220291,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1842.93105044619,
+            511.00131282202915,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1840.3329742348367,
+            509.50131282202915,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1816.0,
+            488.0,
+            -8.00904
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_6-41-55_1158747661/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_6-41-55_1158747661/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c817de6968921181819e011fb553f8d902f669cb
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_6-41-55_1158747661/pose.jsonl
@@ -0,0 +1,717 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1943.1153442449972,
+            680.6931917839561,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1940.5172680336439,
+            679.1931917839561,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1937.9191918222905,
+            677.6931917839561,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1935.321115610937,
+            676.1931917839561,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1932.7230393995837,
+            674.6931917839561,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1930.1249631882304,
+            673.1931917839561,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1927.526886976877,
+            671.6931917839561,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1924.9288107655236,
+            670.1931917839561,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1922.3307345541702,
+            668.6931917839561,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1919.7326583428169,
+            667.1931917839561,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1917.1345821314635,
+            665.6931917839561,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1914.5365059201101,
+            664.1931917839561,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1911.9384297087568,
+            662.6931917839561,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1909.3403534974034,
+            661.1931917839561,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1906.74227728605,
+            659.6931917839561,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1904.1442010746966,
+            658.1931917839561,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1901.5461248633433,
+            656.6931917839561,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1901.5461248633433,
+            656.6931917839561,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1900.0461248633433,
+            654.0951155726027,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1898.5461248633433,
+            651.4970393612493,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1897.0461248633433,
+            648.898963149896,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1895.5461248633433,
+            646.3008869385426,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1894.0461248633433,
+            643.7028107271892,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1892.5461248633433,
+            641.1047345158358,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1891.0461248633433,
+            638.5066583044825,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1889.5461248633433,
+            635.9085820931291,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1888.0461248633433,
+            633.3105058817757,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1886.5461248633433,
+            630.7124296704224,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1885.0461248633433,
+            628.114353459069,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1883.5461248633433,
+            625.5162772477156,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1882.0461248633433,
+            622.9182010363622,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1880.5461248633433,
+            620.3201248250089,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1879.0461248633433,
+            617.7220486136555,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1877.5461248633433,
+            615.1239724023021,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1876.0461248633433,
+            612.5258961909487,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1874.5461248633433,
+            609.9278199795954,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1873.0461248633433,
+            607.329743768242,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1873.0461248633433,
+            607.329743768242,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1873.0461248633433,
+            604.329743768242,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1873.0461248633433,
+            601.329743768242,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1873.0461248633433,
+            598.329743768242,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1873.0461248633433,
+            595.329743768242,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1873.0461248633433,
+            592.329743768242,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1873.0461248633433,
+            589.329743768242,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1873.0461248633433,
+            586.329743768242,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1873.0461248633433,
+            583.329743768242,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1873.0461248633433,
+            580.329743768242,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1873.0461248633433,
+            577.329743768242,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1873.0461248633433,
+            574.329743768242,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1873.0461248633433,
+            571.329743768242,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            1873.0461248633433,
+            568.329743768242,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            1873.0461248633433,
+            565.329743768242,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            1873.0461248633433,
+            562.329743768242,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            1873.0461248633433,
+            559.329743768242,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1860.0,
+            540.0,
+            0.167524
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_6-8-57_263419017/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_6-8-57_263419017/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..04497b9d1ce2fd600dca746bc41d4449f6b2367b
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_6-8-57_263419017/pose.jsonl
@@ -0,0 +1,587 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1393.3670380560332,
+            824.5600288420156,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1393.3670380560332,
+            821.5600288420156,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1393.3670380560332,
+            818.5600288420156,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1393.3670380560332,
+            815.5600288420156,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1393.3670380560332,
+            812.5600288420156,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1393.3670380560332,
+            809.5600288420156,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1393.3670380560332,
+            806.5600288420156,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1393.3670380560332,
+            803.5600288420156,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1393.3670380560332,
+            803.5600288420156,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1391.8670380560332,
+            800.9619526306624,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1390.3670380560332,
+            798.363876419309,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1388.8670380560332,
+            795.7658002079556,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1388.8670380560332,
+            795.7658002079556,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1388.8670380560332,
+            792.7658002079556,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1388.8670380560332,
+            789.7658002079556,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1388.8670380560332,
+            786.7658002079556,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1388.8670380560332,
+            783.7658002079556,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1388.8670380560332,
+            780.7658002079556,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1388.8670380560332,
+            777.7658002079556,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1388.8670380560332,
+            774.7658002079556,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1388.8670380560332,
+            771.7658002079556,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1388.8670380560332,
+            768.7658002079556,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1388.8670380560332,
+            765.7658002079556,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1388.8670380560332,
+            762.7658002079556,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1388.8670380560332,
+            762.7658002079556,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1390.3670380560332,
+            760.1677239966023,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1391.8670380560332,
+            757.5696477852489,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1393.3670380560332,
+            754.9715715738955,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1394.8670380560332,
+            752.3734953625421,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1396.3670380560332,
+            749.7754191511888,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1397.8670380560332,
+            747.1773429398354,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1399.3670380560332,
+            744.579266728482,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1400.8670380560332,
+            741.9811905171287,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1402.3670380560332,
+            739.3831143057753,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1403.8670380560332,
+            736.7850380944219,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1405.3670380560332,
+            734.1869618830685,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1406.8670380560332,
+            731.5888856717152,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1408.3670380560332,
+            728.9908094603618,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1409.8670380560332,
+            726.3927332490084,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1411.3670380560332,
+            723.794657037655,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1412.8670380560332,
+            721.1965808263017,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1414.3670380560332,
+            718.5985046149483,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1415.8670380560332,
+            716.0004284035949,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1417.3670380560332,
+            713.4023521922416,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1428.0,
+            664.0,
+            215.281
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_7-10-39_1199420528/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_7-10-39_1199420528/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..85185734eb0f99e112970fd4f38dfcdd76b84755
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_7-10-39_1199420528/pose.jsonl
@@ -0,0 +1,769 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1501.7634936549703,
+            -209.9634585029568,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1503.2634936549703,
+            -207.36538229160348,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1504.7634936549703,
+            -204.76730608025017,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1506.2634936549703,
+            -202.16922986889685,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1507.7634936549703,
+            -199.57115365754353,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1509.2634936549703,
+            -196.97307744619022,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1510.7634936549703,
+            -194.3750012348369,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1512.2634936549703,
+            -191.77692502348359,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1513.7634936549703,
+            -189.17884881213027,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1515.2634936549703,
+            -186.58077260077695,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1516.7634936549703,
+            -183.98269638942364,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1518.2634936549703,
+            -181.38462017807032,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1519.7634936549703,
+            -178.786543966717,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1521.2634936549703,
+            -176.1884677553637,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1522.7634936549703,
+            -173.59039154401037,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1524.2634936549703,
+            -170.99231533265706,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1525.7634936549703,
+            -168.39423912130374,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1527.2634936549703,
+            -165.79616290995043,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1528.7634936549703,
+            -163.1980866985971,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1528.7634936549703,
+            -163.1980866985971,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1528.7634936549703,
+            -160.1980866985971,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1528.7634936549703,
+            -157.1980866985971,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1528.7634936549703,
+            -154.1980866985971,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1528.7634936549703,
+            -151.1980866985971,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1528.7634936549703,
+            -151.1980866985971,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1528.7634936549703,
+            -151.1980866985971,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982989
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1531.3615698663236,
+            -149.6980866985971,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1533.959646077677,
+            -148.1980866985971,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1536.5577222890304,
+            -146.6980866985971,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1539.1557985003838,
+            -145.1980866985971,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1541.7538747117371,
+            -143.6980866985971,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1544.3519509230905,
+            -142.1980866985971,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1546.9500271344439,
+            -140.6980866985971,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1549.5481033457972,
+            -139.1980866985971,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1552.1461795571506,
+            -137.6980866985971,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1554.744255768504,
+            -136.1980866985971,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1557.3423319798574,
+            -134.6980866985971,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1557.3423319798574,
+            -134.6980866985971,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1558.8423319798574,
+            -132.1000104872438,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1560.3423319798574,
+            -129.50193427589048,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1561.8423319798574,
+            -126.90385806453716,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1563.3423319798574,
+            -124.30578185318384,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1564.8423319798574,
+            -121.70770564183053,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1566.3423319798574,
+            -119.10962943047721,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1567.8423319798574,
+            -116.5115532191239,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1569.3423319798574,
+            -113.91347700777058,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1570.8423319798574,
+            -111.31540079641726,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1572.3423319798574,
+            -108.71732458506395,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1573.8423319798574,
+            -106.11924837371063,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1575.3423319798574,
+            -103.52117216235732,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            1576.8423319798574,
+            -100.923095951004,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            1578.3423319798574,
+            -98.32501973965068,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            1578.3423319798574,
+            -98.32501973965068,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            1580.9404081912107,
+            -96.82501973965068,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            1583.538484402564,
+            -95.32501973965068,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            1586.1365606139175,
+            -93.82501973965068,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            1588.7346368252709,
+            -92.32501973965068,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            1591.3327130366242,
+            -90.82501973965068,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1612.0,
+            -68.0,
+            34.3503
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_7-4-30_1316953165/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_7-4-30_1316953165/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..71fb2afd2b560294745383aca3f01403865d718f
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_7-4-30_1316953165/pose.jsonl
@@ -0,0 +1,743 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1818.835936656998,
+            222.2262834196346,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1821.835936656998,
+            222.2262834196346,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1824.835936656998,
+            222.2262834196346,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1827.835936656998,
+            222.2262834196346,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1830.835936656998,
+            222.2262834196346,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1833.835936656998,
+            222.2262834196346,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1836.835936656998,
+            222.2262834196346,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1839.835936656998,
+            222.2262834196346,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1842.835936656998,
+            222.2262834196346,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1845.835936656998,
+            222.2262834196346,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1848.835936656998,
+            222.2262834196346,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1851.835936656998,
+            222.2262834196346,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1854.835936656998,
+            222.2262834196346,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1854.835936656998,
+            222.2262834196346,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1854.835936656998,
+            222.2262834196346,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1856.335936656998,
+            219.62820720828128,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1856.335936656998,
+            219.62820720828128,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1858.9340128683514,
+            218.12820720828128,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1861.5320890797047,
+            216.62820720828128,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1864.1301652910581,
+            215.12820720828128,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1866.7282415024115,
+            213.62820720828128,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1869.3263177137649,
+            212.12820720828128,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1871.9243939251182,
+            210.62820720828128,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1874.5224701364716,
+            209.12820720828128,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1877.120546347825,
+            207.62820720828128,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1879.7186225591784,
+            206.12820720828128,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1882.3166987705317,
+            204.62820720828128,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1884.914774981885,
+            203.12820720828128,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1887.5128511932385,
+            201.62820720828128,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1890.1109274045918,
+            200.12820720828128,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1892.7090036159452,
+            198.62820720828128,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1895.3070798272986,
+            197.12820720828128,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1897.905156038652,
+            195.62820720828128,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1900.5032322500053,
+            194.12820720828128,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1903.1013084613587,
+            192.62820720828128,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1905.699384672712,
+            191.12820720828128,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1905.699384672712,
+            191.12820720828128,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1907.199384672712,
+            188.53013099692797,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1908.699384672712,
+            185.93205478557465,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1910.199384672712,
+            183.33397857422133,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1911.699384672712,
+            180.73590236286802,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1913.199384672712,
+            178.1378261515147,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1914.699384672712,
+            175.53974994016139,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1916.199384672712,
+            172.94167372880807,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1917.699384672712,
+            170.34359751745475,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1919.199384672712,
+            167.74552130610144,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1920.699384672712,
+            165.14744509474812,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1922.199384672712,
+            162.5493688833948,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1923.699384672712,
+            159.9512926720415,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1925.199384672712,
+            157.35321646068817,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            1926.699384672712,
+            154.75514024933486,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            1928.199384672712,
+            152.15706403798154,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            1929.699384672712,
+            149.55898782662823,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            1931.199384672712,
+            146.9609116152749,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            1932.699384672712,
+            144.3628354039216,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            1934.199384672712,
+            141.76475919256828,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1952.0,
+            128.0,
+            -8.00905
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_7-40-24_1003463633/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_7-40-24_1003463633/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..72355c92e87ce6b8ff2a6d2c71c326e6377d8ab2
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_7-40-24_1003463633/pose.jsonl
@@ -0,0 +1,769 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1807.9316378066753,
+            212.2097592320407,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1810.9316378066753,
+            212.2097592320407,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1813.9316378066753,
+            212.2097592320407,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1816.9316378066753,
+            212.2097592320407,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1819.9316378066753,
+            212.2097592320407,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1822.9316378066753,
+            212.2097592320407,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1825.9316378066753,
+            212.2097592320407,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1828.9316378066753,
+            212.2097592320407,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1831.9316378066753,
+            212.2097592320407,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1834.9316378066753,
+            212.2097592320407,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1837.9316378066753,
+            212.2097592320407,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1840.9316378066753,
+            212.2097592320407,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1843.9316378066753,
+            212.2097592320407,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1846.9316378066753,
+            212.2097592320407,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1849.9316378066753,
+            212.2097592320407,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1852.9316378066753,
+            212.2097592320407,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1855.9316378066753,
+            212.2097592320407,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1858.9316378066753,
+            212.2097592320407,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1861.9316378066753,
+            212.2097592320407,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1864.9316378066753,
+            212.2097592320407,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1867.9316378066753,
+            212.2097592320407,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1870.9316378066753,
+            212.2097592320407,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1870.9316378066753,
+            212.2097592320407,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1873.5297140180287,
+            210.7097592320407,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1876.127790229382,
+            209.2097592320407,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1878.7258664407354,
+            207.7097592320407,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1881.3239426520888,
+            206.2097592320407,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1883.9220188634422,
+            204.7097592320407,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1886.5200950747956,
+            203.2097592320407,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1889.118171286149,
+            201.7097592320407,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1891.7162474975023,
+            200.2097592320407,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1894.3143237088557,
+            198.7097592320407,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1896.912399920209,
+            197.2097592320407,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1899.5104761315624,
+            195.7097592320407,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1902.1085523429158,
+            194.2097592320407,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1904.7066285542692,
+            192.7097592320407,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1907.3047047656225,
+            191.2097592320407,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1907.3047047656225,
+            191.2097592320407,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1908.8047047656225,
+            188.6116830206874,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1910.3047047656225,
+            186.01360680933408,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1911.8047047656225,
+            183.41553059798076,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1913.3047047656225,
+            180.81745438662745,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1914.8047047656225,
+            178.21937817527413,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1916.3047047656225,
+            175.6213019639208,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1917.8047047656225,
+            173.0232257525675,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1919.3047047656225,
+            170.42514954121418,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1920.8047047656225,
+            167.82707332986087,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1922.3047047656225,
+            165.22899711850755,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1923.8047047656225,
+            162.63092090715423,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1925.3047047656225,
+            160.03284469580092,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            1926.8047047656225,
+            157.4347684844476,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            1928.3047047656225,
+            154.8366922730943,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            1929.8047047656225,
+            152.23861606174097,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            1931.3047047656225,
+            149.64053985038765,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            1932.8047047656225,
+            147.04246363903434,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            1934.3047047656225,
+            144.44438742768102,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            1935.8047047656225,
+            141.8463112163277,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            1937.3047047656225,
+            139.2482350049744,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1952.0,
+            128.0,
+            -8.00905
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_7-45-24_1659373349/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_7-45-24_1659373349/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..29de6f636b4fea30ebebdd77256e7c2ee991ed9e
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_7-45-24_1659373349/pose.jsonl
@@ -0,0 +1,717 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            967.2557160359169,
+            825.8489942145324,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            969.8537922472701,
+            824.3489942145324,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            972.4518684586235,
+            822.8489942145324,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            975.0499446699769,
+            821.3489942145324,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            977.6480208813302,
+            819.8489942145324,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            980.2460970926836,
+            818.3489942145324,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            982.844173304037,
+            816.8489942145324,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            985.4422495153904,
+            815.3489942145324,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            988.0403257267437,
+            813.8489942145324,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            990.6384019380971,
+            812.3489942145324,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            993.2364781494505,
+            810.8489942145324,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            995.8345543608038,
+            809.3489942145324,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            998.4326305721572,
+            807.8489942145324,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1001.0307067835106,
+            806.3489942145324,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1003.628782994864,
+            804.8489942145324,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1006.2268592062173,
+            803.3489942145324,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1008.8249354175707,
+            801.8489942145324,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1011.4230116289241,
+            800.3489942145324,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1014.0210878402775,
+            798.8489942145324,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1016.6191640516308,
+            797.3489942145324,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1019.2172402629842,
+            795.8489942145324,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1021.8153164743376,
+            794.3489942145324,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1024.413392685691,
+            792.8489942145324,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1027.0114688970443,
+            791.3489942145324,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1029.6095451083977,
+            789.8489942145324,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1032.207621319751,
+            788.3489942145324,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1034.8056975311044,
+            786.8489942145324,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1034.8056975311044,
+            786.8489942145324,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1036.3056975311044,
+            784.2509180031791,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1037.8056975311044,
+            781.6528417918257,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1039.3056975311044,
+            779.0547655804723,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1040.8056975311044,
+            776.456689369119,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1042.3056975311044,
+            773.8586131577656,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1043.8056975311044,
+            771.2605369464122,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1045.3056975311044,
+            768.6624607350589,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1046.8056975311044,
+            766.0643845237055,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1048.3056975311044,
+            763.4663083123521,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1049.8056975311044,
+            760.8682321009987,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1051.3056975311044,
+            758.2701558896454,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1052.8056975311044,
+            755.672079678292,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1054.3056975311044,
+            753.0740034669386,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1055.8056975311044,
+            750.4759272555852,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1057.3056975311044,
+            747.8778510442319,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1058.8056975311044,
+            745.2797748328785,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1060.3056975311044,
+            742.6816986215251,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1061.8056975311044,
+            740.0836224101718,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1063.3056975311044,
+            737.4855461988184,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1064.8056975311044,
+            734.887469987465,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1066.3056975311044,
+            732.2893937761116,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1067.8056975311044,
+            729.6913175647583,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            1067.8056975311044,
+            729.6913175647583,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            1070.4037737424578,
+            728.1913175647583,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            1073.0018499538112,
+            726.6913175647583,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            1075.5999261651646,
+            725.1913175647583,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1092.0,
+            708.0,
+            64.9253
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_8-13-48_934618834/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_8-13-48_934618834/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..da4941ce6b039b1c5024bcaa730296547c14addc
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_8-13-48_934618834/pose.jsonl
@@ -0,0 +1,782 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            882.8572253832692,
+            448.74327366442037,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            880.2591491719159,
+            447.24327366442037,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            877.6610729605625,
+            445.74327366442037,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            875.0629967492091,
+            444.24327366442037,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            872.4649205378557,
+            442.74327366442037,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            869.8668443265024,
+            441.24327366442037,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            867.268768115149,
+            439.74327366442037,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            864.6706919037956,
+            438.24327366442037,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            862.0726156924422,
+            436.74327366442037,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            859.4745394810889,
+            435.24327366442037,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            859.4745394810889,
+            435.24327366442037,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            856.4745394810889,
+            435.24327366442037,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            853.4745394810889,
+            435.24327366442037,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            850.4745394810889,
+            435.24327366442037,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            847.4745394810889,
+            435.24327366442037,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            844.4745394810889,
+            435.24327366442037,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            841.4745394810889,
+            435.24327366442037,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            838.4745394810889,
+            435.24327366442037,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            835.4745394810889,
+            435.24327366442037,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            832.4745394810889,
+            435.24327366442037,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            829.4745394810889,
+            435.24327366442037,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            826.4745394810889,
+            435.24327366442037,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            823.4745394810889,
+            435.24327366442037,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            820.4745394810889,
+            435.24327366442037,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            817.4745394810889,
+            435.24327366442037,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            814.4745394810889,
+            435.24327366442037,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            811.4745394810889,
+            435.24327366442037,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            808.4745394810889,
+            435.24327366442037,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            805.4745394810889,
+            435.24327366442037,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            802.4745394810889,
+            435.24327366442037,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            799.4745394810889,
+            435.24327366442037,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            796.4745394810889,
+            435.24327366442037,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            796.4745394810889,
+            435.24327366442037,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            793.8764632697355,
+            436.74327366442037,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            791.2783870583821,
+            438.24327366442037,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            788.6803108470287,
+            439.74327366442037,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            786.0822346356754,
+            441.24327366442037,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            783.484158424322,
+            442.74327366442037,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            780.8860822129686,
+            444.24327366442037,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            778.2880060016153,
+            445.74327366442037,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            775.6899297902619,
+            447.24327366442037,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            773.0918535789085,
+            448.74327366442037,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            770.4937773675551,
+            450.24327366442037,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            767.8957011562018,
+            451.74327366442037,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            765.2976249448484,
+            453.24327366442037,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            762.699548733495,
+            454.74327366442037,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            760.1014725221416,
+            456.24327366442037,
+            4.008504278406168
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            760.1014725221416,
+            456.24327366442037,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            758.6014725221416,
+            458.8413498757737,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            757.1014725221416,
+            461.439426087127,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            755.6014725221416,
+            464.0375022984803,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            754.1014725221416,
+            466.63557850983364,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            752.6014725221416,
+            469.23365472118695,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            751.1014725221416,
+            471.83173093254027,
+            4.008504278406168
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            751.1014725221416,
+            471.83173093254027,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            748.5033963107883,
+            473.33173093254027,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            745.9053200994349,
+            474.83173093254027,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            743.3072438880815,
+            476.33173093254027,
+            4.008504278406168
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            740.7091676767282,
+            477.83173093254027,
+            4.008504278406168
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            716.0,
+            484.0,
+            -10.4721
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-14-47_1365180540/20250103_211452.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-14-47_1365180540/20250103_211452.png
new file mode 100644
index 0000000000000000000000000000000000000000..78aecb4cbeefe54137185fb0fd09f7ccaa171d54
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-14-47_1365180540/20250103_211452.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe7239b2e4e60cc7ee3bb9dffc584a3b8ffe9f64499ffbc384ccb677ad878026
+size 949317
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-14-47_1365180540/20250103_211454.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-14-47_1365180540/20250103_211454.png
new file mode 100644
index 0000000000000000000000000000000000000000..13f31dde2673961e243b9cca7df7839eb137ac38
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-14-47_1365180540/20250103_211454.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:334db031871b251d32cca55bafba9117f83ef6731494f7862e9b67dd27bfeab7
+size 942985
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-14-47_1365180540/20250103_211456.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-14-47_1365180540/20250103_211456.png
new file mode 100644
index 0000000000000000000000000000000000000000..214a254ba540597dac672e1ab07c460937d37bb2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-14-47_1365180540/20250103_211456.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00263377bdcdcd832e9d4cc41c18dba70b87a8ef56b558593a413998ce488180
+size 942917
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-14-47_1365180540/20250103_211459.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-14-47_1365180540/20250103_211459.png
new file mode 100644
index 0000000000000000000000000000000000000000..ced2dafb2195c08b30434decf2a9838aec280219
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-14-47_1365180540/20250103_211459.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8480924f1a3797605a2b798b7ddd25f6a7566f8c583ec98f6d8e200f219a0045
+size 935142
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-14-47_1365180540/20250103_211501.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-14-47_1365180540/20250103_211501.png
new file mode 100644
index 0000000000000000000000000000000000000000..563f8c9f152830bd2d588aa76279a5e75095a13a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-14-47_1365180540/20250103_211501.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f956315b4be17ac23d47b6db37d684264043160487d5426875c2693d6da51134
+size 939665
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-14-47_1365180540/20250103_211503.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-14-47_1365180540/20250103_211503.png
new file mode 100644
index 0000000000000000000000000000000000000000..24bde64a231451889b7d8a603ae74fb5194a57d3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-14-47_1365180540/20250103_211503.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee687efeeddb22595dcba5df9a3e6cdef4c19ae436cd081dd32bdbab800e3a60
+size 943995
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-14-47_1365180540/20250103_211506.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-14-47_1365180540/20250103_211506.png
new file mode 100644
index 0000000000000000000000000000000000000000..c33076f3b95f2857b46233e71b1a1b0dcc447254
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-14-47_1365180540/20250103_211506.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87b8eeffd2671784a6b28356d7c3221efa3c24713dd631987a1e0bf07686064c
+size 945408
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-14-47_1365180540/20250103_211508.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-14-47_1365180540/20250103_211508.png
new file mode 100644
index 0000000000000000000000000000000000000000..ad84d3d812b01cafab4156be8e54a36beaee1b66
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-14-47_1365180540/20250103_211508.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:112b450574dd02963e154e2452c72c02beee647de93bb967eaf4b1a14b1b6f13
+size 947175
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-14-47_1365180540/20250103_211510.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-14-47_1365180540/20250103_211510.png
new file mode 100644
index 0000000000000000000000000000000000000000..bd0527b5758251aca901bdbd1f66671eb23629f1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-14-47_1365180540/20250103_211510.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6528a5b492d787803158cc2e9e115eddb7be0bdef966687d573c28830dbea26
+size 928657
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-14-47_1365180540/20250103_211512.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-14-47_1365180540/20250103_211512.png
new file mode 100644
index 0000000000000000000000000000000000000000..f5d8f2c36a62fc5d3b9742edd3e859ff5f0c4662
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-14-47_1365180540/20250103_211512.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00748d2b861b3b3d00a9ebae50e08848ae79d400999a8bf3d55966076c4e36fd
+size 931029
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-14-47_1365180540/20250103_211515.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-14-47_1365180540/20250103_211515.png
new file mode 100644
index 0000000000000000000000000000000000000000..5a88b1c54878e9f778a82d2d9b9e867f9c2f2830
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-14-47_1365180540/20250103_211515.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f5928f0d949917b4ba737fe04e6ee79b6ee223d656bf3d63553410ec4b4927e
+size 927093
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-14-47_1365180540/20250103_211517.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-14-47_1365180540/20250103_211517.png
new file mode 100644
index 0000000000000000000000000000000000000000..b903206cda42da631dba6da945232f8f63b290fa
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-14-47_1365180540/20250103_211517.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a9ac049f243cbf0acbcae70e0c834acc499b66582cecbe516846254354b6caf
+size 925471
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-14-47_1365180540/20250103_211519.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-14-47_1365180540/20250103_211519.png
new file mode 100644
index 0000000000000000000000000000000000000000..1ff5b21939661f926943b557db32593dff49ee04
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-14-47_1365180540/20250103_211519.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af86942394fe32c997343eaeb8a7a115f8eb455780b66a617d2d9c7a7aa4a809
+size 924527
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-19-2_861021530/20250103_211908.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-19-2_861021530/20250103_211908.png
new file mode 100644
index 0000000000000000000000000000000000000000..57f3d6692f95525da14293c1318d2e5ca1fbd3e9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-19-2_861021530/20250103_211908.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f947f388acd6aebaaa9c13f4d03651b044630b37cc4b019ef0d5d87d9905323
+size 902463
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-19-2_861021530/20250103_211910.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-19-2_861021530/20250103_211910.png
new file mode 100644
index 0000000000000000000000000000000000000000..714f34afc3730802cdbb81204e49bdccb6fbc9a4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-19-2_861021530/20250103_211910.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cfeff05784632dc0bb8e8455fc7a57d624a5708407af8fc82034332a19d680c5
+size 904852
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-19-2_861021530/20250103_211913.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-19-2_861021530/20250103_211913.png
new file mode 100644
index 0000000000000000000000000000000000000000..4848f5cc13976efdbb3754381906b17d89bc286b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-19-2_861021530/20250103_211913.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1137e5c542acc2c8fb4d952176aec204a6ec096d54c803a6c47450f16823730c
+size 906617
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-19-2_861021530/20250103_211915.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-19-2_861021530/20250103_211915.png
new file mode 100644
index 0000000000000000000000000000000000000000..556979c15d98f4601382a67f581db931d2fa2efd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-19-2_861021530/20250103_211915.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e890ec1098004663d3ca414b19e55819421b39a32132ddc1e06e06a224d16db8
+size 914406
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-19-2_861021530/20250103_211917.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-19-2_861021530/20250103_211917.png
new file mode 100644
index 0000000000000000000000000000000000000000..005fe3561ea3308d047cc5dc80ac285738e5f2d0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-19-2_861021530/20250103_211917.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3a182deb6e749403d9262fe17a108dc4c4fa5c001ec9ebf800ca48e980dcc63
+size 927083
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-19-2_861021530/20250103_211919.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-19-2_861021530/20250103_211919.png
new file mode 100644
index 0000000000000000000000000000000000000000..ab0ca3f30856ca66e1874417495ac2f12d6dad6a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-19-2_861021530/20250103_211919.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fcee30bbe0f714930a5fb1d4c6883485d5453d9ff8c3601b0f2576f7393591a
+size 931295
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-19-2_861021530/20250103_211922.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-19-2_861021530/20250103_211922.png
new file mode 100644
index 0000000000000000000000000000000000000000..ee47b6519eba337345008106d4e538b2ad0b07bd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-19-2_861021530/20250103_211922.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef3cae3024f437168187c1dd218655617d30f1d11d62744cf9f257ccc29284c4
+size 932260
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-19-2_861021530/20250103_211924.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-19-2_861021530/20250103_211924.png
new file mode 100644
index 0000000000000000000000000000000000000000..e2e539b16b0075152ddfa8973fe992eb214e7961
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-19-2_861021530/20250103_211924.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a726dfa386b72b2b67c403c32cfc86e9e002350f589d3f8a197e14c2cf93983d
+size 932328
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-19-2_861021530/20250103_211926.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-19-2_861021530/20250103_211926.png
new file mode 100644
index 0000000000000000000000000000000000000000..41685b7ad3abd021ac1c363733cd3702d84deb04
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-19-2_861021530/20250103_211926.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c38449dcf8910d83fe6bcab7cd28d134237953751c7ff6e2e095fbf14d6409f
+size 935547
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-44-49_610515434/20250103_214454.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-44-49_610515434/20250103_214454.png
new file mode 100644
index 0000000000000000000000000000000000000000..b01dec0d07a551592026f3f362b2167372cbbd5b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-44-49_610515434/20250103_214454.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c88b2af20c077d29b34c9c80d8f22f7dbd759a4e6e374a1f6e1abea4f6664a1
+size 938993
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-44-49_610515434/20250103_214456.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-44-49_610515434/20250103_214456.png
new file mode 100644
index 0000000000000000000000000000000000000000..d2fcad23b9cf1884609f78e90eeb7822c848fa33
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-44-49_610515434/20250103_214456.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31ee9a13e38d260447e1dc31df3290fa91bc9fd0a29e68498d62b34d68be1cc0
+size 957526
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-44-49_610515434/20250103_214459.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-44-49_610515434/20250103_214459.png
new file mode 100644
index 0000000000000000000000000000000000000000..d8fe1d6d46cc46f467b3c0cb0f4b03bb27d91f4f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-44-49_610515434/20250103_214459.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1dc30830b4907851d47fb4dbaa30401f3d6c80b87b58affda4afe3971531045
+size 962942
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-44-49_610515434/20250103_214501.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-44-49_610515434/20250103_214501.png
new file mode 100644
index 0000000000000000000000000000000000000000..5388292d04624af2fb085c132f1976780f77daf7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-44-49_610515434/20250103_214501.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b122295bee58d40205134fe520209429063040719abbffe5fa03e9e47bffbdff
+size 949936
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-44-49_610515434/20250103_214503.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-44-49_610515434/20250103_214503.png
new file mode 100644
index 0000000000000000000000000000000000000000..3542b999a3e106515b7cd826a41906436b1c9c19
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-44-49_610515434/20250103_214503.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b1109006e5001914bb04cb2391b99689fecfe46f2baa41938bb59d613da5bc5
+size 945160
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-44-49_610515434/20250103_214506.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-44-49_610515434/20250103_214506.png
new file mode 100644
index 0000000000000000000000000000000000000000..ff9450570385aac3c234e5b432241bdede9896c9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-44-49_610515434/20250103_214506.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:512b32cff48bf3d62eff97d437887bd78b2286de7e3bc271a5522db072f40390
+size 935340
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210640.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210640.png
new file mode 100644
index 0000000000000000000000000000000000000000..9bb43b64544ac1a4f165da5eb7e69800a3300fc5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210640.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90ec8f4dbba6a26c1c863c036fb6c2e9b4119b66764376af3bcf042e173ec0b2
+size 917979
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210643.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210643.png
new file mode 100644
index 0000000000000000000000000000000000000000..40881590f2e53d90c7a58d50ec146c295271ecc0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210643.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3fc219f10dc1ec9f82b759ae60af98184764b36b6bc9c49f5f65816d3178c33d
+size 916752
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210645.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210645.png
new file mode 100644
index 0000000000000000000000000000000000000000..3e28904e3ec44aa511c6fef419b90dda68c5358f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210645.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:752a641d82f7a9cffd9eaa067f412e4107f1242cf553de682203a4fd88000fcc
+size 920682
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210647.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210647.png
new file mode 100644
index 0000000000000000000000000000000000000000..daf8e1331bb66c9d62af11c28e318f0efeefa7e0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210647.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7aa5c757170998957437cde150eca90d43771390bb28dd3d04ecc8c965d9dc6e
+size 918041
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210649.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210649.png
new file mode 100644
index 0000000000000000000000000000000000000000..3c543862fee559d258b338128c67a9b36adb1de9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210649.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2e7563499f627246cd4bef0a63c7fe2aab97258275e7efe12d437794f926eee
+size 915372
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210652.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210652.png
new file mode 100644
index 0000000000000000000000000000000000000000..a69a9339cbb5b32b33b2b71209dcf0a508738582
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210652.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a9d30c8c81a068205aa4d17be6595854691cb47a257781f99ca3fd7e18d4b74
+size 914489
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210654.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210654.png
new file mode 100644
index 0000000000000000000000000000000000000000..d40a9f5dabcf524942898f290300b65ad9ccec89
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210654.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9100cac98d5d00400c434d94586aedbba84e56707bd6c09ce47912984506a3a5
+size 908479
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210656.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210656.png
new file mode 100644
index 0000000000000000000000000000000000000000..bae39b27638cc6a11532efe2751eb1b7b552f671
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210656.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f46afef03e21c7b7483f5ec9a66553550107131cb15ee22d5cd151c4cdd32683
+size 910299
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210658.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210658.png
new file mode 100644
index 0000000000000000000000000000000000000000..3a1ef8151e6528c633836fa35e18f8d28eb65769
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210658.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a170d7164c573bc39e6eab71214a5ac2160d0461f8e6650ff3e4f101b800ada3
+size 912771
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210701.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210701.png
new file mode 100644
index 0000000000000000000000000000000000000000..f2c4e4179e86e028b326115843cb724c6ef43715
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210701.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e91870be91dcdc893ed4efa13dfeb2a4b1aa617e854e0d58cb03bb2becc923f1
+size 915293
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210703.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210703.png
new file mode 100644
index 0000000000000000000000000000000000000000..35b003e478d4b36d569820a9f6afda3fa0f26ce2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210703.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f824a76570614ab7cb00a25e96a77cc26ada96182ee29965fb953a3219128b3f
+size 919849
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210705.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210705.png
new file mode 100644
index 0000000000000000000000000000000000000000..3cd9d084c781417afb07c67ba025b0008e950ac3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210705.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:352981efc0d913dc986b846cadf33c5334881466883aa4512cedff012d1958ba
+size 923428
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210707.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210707.png
new file mode 100644
index 0000000000000000000000000000000000000000..8196c8e2cdb395656de298ba350ac0f6dec43b23
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210707.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f363eb710e254a2a7a68c02331742caa2ea7141e07167691c90114b377f0a34
+size 927945
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210709.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210709.png
new file mode 100644
index 0000000000000000000000000000000000000000..faed5d493d556764575a695b047fee821508b02c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210709.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00a632ceeeb820920fcc9d8c077fdc5eeefa70e84e0458b9a837c1d566f0bae0
+size 932688
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210711.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210711.png
new file mode 100644
index 0000000000000000000000000000000000000000..98522504ef7781837c2c554e30fb3f5a0f913fea
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210711.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98f0c34fea3ab974553628f9b219d4190c841d90980a59dde02b2cfc5f08a07b
+size 936396
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210714.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210714.png
new file mode 100644
index 0000000000000000000000000000000000000000..6d6de46abf27e94be6b48cab8e91880beb7ae8c9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210714.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c5be3d280fd79d484198860a63d6b0ff9889393a738ec946ea842090d81fdb6
+size 939183
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210716.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210716.png
new file mode 100644
index 0000000000000000000000000000000000000000..d1a01c4a7ca65966cbb2e09c8d8daa560b51e98d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210716.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd9e965647628ae9b369986259fddfbcb7ed62df7f5f8d72a28e9e37459a6cf4
+size 952215
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210718.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210718.png
new file mode 100644
index 0000000000000000000000000000000000000000..f5365821cdd8bc6f8e3426daa76f975a04b9c3b1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210718.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c208c5a6872de7d2af5160f3f87b7ee1cbaa7bb95c1ca6f6fc0c700d5e3a3a5
+size 953593
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210720.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210720.png
new file mode 100644
index 0000000000000000000000000000000000000000..43bb56fdee1f24c11bf4af59ce7e8452ceaf8283
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210720.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:713ed6c4379f8c4e6c00dde437fb2c5b0fe91960468871992013b0410aa80e71
+size 955991
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210723.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210723.png
new file mode 100644
index 0000000000000000000000000000000000000000..c9975511ad6d96c9588b33762de941bbfdd18890
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210723.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eac028c2b7c7a1c90c2d41bdaf78976ecd217f8dee1b166f91176fa09ad0c3eb
+size 968226
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210725.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210725.png
new file mode 100644
index 0000000000000000000000000000000000000000..55627d2f89c470028e340647ae4fd323fed60ddc
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210725.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3694b6ac7fe479e7189170008f35cbf118f240b1da968f4d64188b5a051efd0
+size 970291
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210727.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210727.png
new file mode 100644
index 0000000000000000000000000000000000000000..f348365e7a11d68781b2ec61b81e457b56713ce3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210727.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fc76e9a71e1e4066ef41eda29ba745e1bc478fc601d1ed973ae3fb7d73668bf
+size 969685
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210729.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210729.png
new file mode 100644
index 0000000000000000000000000000000000000000..741cd4eb894fdb030eaf6d61ee67817d16861dec
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210729.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70edff6fca33d94dbba95a2cda656d743df14ff97030fb4d82f2adcebf774acc
+size 968870
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210731.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210731.png
new file mode 100644
index 0000000000000000000000000000000000000000..4dcd3a381e0375b808ed0648db364d799c4df2c3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210731.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f93605e0a0ec7877a90437fcf926eebeed78a360968aa3d4ef5222f0c320b69
+size 968256
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210734.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210734.png
new file mode 100644
index 0000000000000000000000000000000000000000..df02267038c08accfc35e34f4e7bcdaf4ba20636
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_21-6-37_1681692777/20250103_210734.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:125678b1a591f282bb6b926921cc79c6d5297d666e718a7ca980a0cf295f3317
+size 966011
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-13-3_327254586/20250103_221308.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-13-3_327254586/20250103_221308.png
new file mode 100644
index 0000000000000000000000000000000000000000..9bfc14b922c0347ff7c19671a39228c089a17e39
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-13-3_327254586/20250103_221308.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3feea1306eb5838f63d3431af198054df312e167653f1ba901346ef63b4afbfd
+size 777445
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-13-3_327254586/20250103_221310.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-13-3_327254586/20250103_221310.png
new file mode 100644
index 0000000000000000000000000000000000000000..68598b25ad38869f6737390e18ed1c7adeaa8baf
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-13-3_327254586/20250103_221310.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b12b6d8ddb36f37daf73d0a3e4cb0b3934884588a07fc21a786515f8bb8db03
+size 793537
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-13-3_327254586/20250103_221316.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-13-3_327254586/20250103_221316.png
new file mode 100644
index 0000000000000000000000000000000000000000..d62935215f701734313751df25fb4c887efc3254
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-13-3_327254586/20250103_221316.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3ccca8dc04cf26efc2032f529737089415b8ecbcafedda59f2fcc109a2de3da
+size 883671
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-13-3_327254586/20250103_221319.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-13-3_327254586/20250103_221319.png
new file mode 100644
index 0000000000000000000000000000000000000000..f6d35a9dd87a1c37fffb5c801a1c4231378ab092
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-13-3_327254586/20250103_221319.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3919f5bce4130b8cdacaac66b6104ce9656dd4aaeb57d3ea60bb13d69b186650
+size 885359
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-13-3_327254586/20250103_221321.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-13-3_327254586/20250103_221321.png
new file mode 100644
index 0000000000000000000000000000000000000000..48714056237962293b1cf5abc5abde2d5effaa8a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-13-3_327254586/20250103_221321.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34e7261bb24de7e50a61bf415f8c13fb6bcb659c6a24f16b33da0c7734107cd0
+size 890637
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-13-3_327254586/20250103_221327.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-13-3_327254586/20250103_221327.png
new file mode 100644
index 0000000000000000000000000000000000000000..4d193f70de19e91b20b50a468095539996547980
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-13-3_327254586/20250103_221327.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3fd744ba00ce3dfd298f644c27222de145e5a0d621fafd6395500206d203394e
+size 903081
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-13-3_327254586/20250103_221330.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-13-3_327254586/20250103_221330.png
new file mode 100644
index 0000000000000000000000000000000000000000..33198492fa51c5b7cf70629fe8e941186619590d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-13-3_327254586/20250103_221330.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9daa210f6b3d3046a4307b193f9f0a1f646fdcde689e64778af03a1edae1138
+size 903883
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-13-3_327254586/20250103_221332.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-13-3_327254586/20250103_221332.png
new file mode 100644
index 0000000000000000000000000000000000000000..09946b214b50b1b3ad8b1a5bf0f7e5ad765e1de6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-13-3_327254586/20250103_221332.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af35c038415c2a67496e005a46ca610a1bd60662ac942e0021b79ac8f11b5232
+size 912958
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-13-3_327254586/20250103_221334.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-13-3_327254586/20250103_221334.png
new file mode 100644
index 0000000000000000000000000000000000000000..0a0d8521d11f19f1eccfee1a358c1bc0616dcd41
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-13-3_327254586/20250103_221334.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1085408514b58790f58cf0bb6307b7c7c954c78a32223e920b07da5d3e3a621d
+size 916311
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-13-3_327254586/20250103_221336.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-13-3_327254586/20250103_221336.png
new file mode 100644
index 0000000000000000000000000000000000000000..88d50dc69cec42031466630c796026e0d6855f97
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-13-3_327254586/20250103_221336.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc990ae3eec736a7a61dbb0f9b248dee9a6f1026c5bee7ffdc6ae8591cd8dff2
+size 919447
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-13-3_327254586/20250103_221341.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-13-3_327254586/20250103_221341.png
new file mode 100644
index 0000000000000000000000000000000000000000..5eba030dbe2c3d9d48dcceac2469d530b2ac4138
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-13-3_327254586/20250103_221341.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44d86e44ab45a314eb3b4e30962144a61c98a73f409daaf71df22589fb1f6cfc
+size 922033
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-13-3_327254586/20250103_221345.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-13-3_327254586/20250103_221345.png
new file mode 100644
index 0000000000000000000000000000000000000000..d1bf012e426e6ed6eb5b50843279b28354c5a145
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-13-3_327254586/20250103_221345.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edcadf05b81897ccf3928f9fad192c0c7fe7fbceec04a9526f4681c420cdeee5
+size 936141
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-13-3_327254586/20250103_221348.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-13-3_327254586/20250103_221348.png
new file mode 100644
index 0000000000000000000000000000000000000000..28284d63dc2e5fbe1045dd24c964062d022fd080
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-13-3_327254586/20250103_221348.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edbb9266703b9a6a8d784c81186f1d5a423b056cfd25f016a034c1dba821d75b
+size 934945
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-13-3_327254586/20250103_221354.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-13-3_327254586/20250103_221354.png
new file mode 100644
index 0000000000000000000000000000000000000000..50d2d2cdc9f874effd53fd2b0d74b98aaf80790a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-13-3_327254586/20250103_221354.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca5c086aa9101b05afd638c27de26e9706a46222647ba0bc5fc0277472d5e668
+size 941331
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-6-55_2114738097/20250103_220658.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-6-55_2114738097/20250103_220658.png
new file mode 100644
index 0000000000000000000000000000000000000000..f3bccf126c30f2377eb6969751d1df8b56e49679
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-6-55_2114738097/20250103_220658.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:831a52896a4982385971c4deb371db26fd50a832b0089f49fc07a8e0100bfe4c
+size 833049
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-6-55_2114738097/20250103_220700.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-6-55_2114738097/20250103_220700.png
new file mode 100644
index 0000000000000000000000000000000000000000..09c896cb20ecdfbdde2ab82efc966b8f8f35351e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-6-55_2114738097/20250103_220700.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7bb17cfd1edf7e3910689a6b03172c4eb28c182eb10a635c5f17761f79739ea
+size 843114
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-6-55_2114738097/20250103_220702.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-6-55_2114738097/20250103_220702.png
new file mode 100644
index 0000000000000000000000000000000000000000..274f3d08cd75726319c8bda467846fb0e8a893ac
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-6-55_2114738097/20250103_220702.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:135b34a40dec71c730ef7633fbf22b4686b5f2bee384c1bf5979f7238828ffd4
+size 851283
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-6-55_2114738097/20250103_220705.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-6-55_2114738097/20250103_220705.png
new file mode 100644
index 0000000000000000000000000000000000000000..0e9cd2a9b7e910da53332989c3828dd70be0a4bd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-6-55_2114738097/20250103_220705.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df5437cab80d026115aa438ff41ca170eb4fc595f605e29b1c24e0bdd707c742
+size 860331
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-6-55_2114738097/20250103_220707.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-6-55_2114738097/20250103_220707.png
new file mode 100644
index 0000000000000000000000000000000000000000..aacb5e62608bccd52726e26e3a310cea9788c4fc
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-6-55_2114738097/20250103_220707.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:313fa99dc9b163475e65764bcb4f2094ac4047942add08c955ae029161f89928
+size 865047
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-6-55_2114738097/20250103_220709.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-6-55_2114738097/20250103_220709.png
new file mode 100644
index 0000000000000000000000000000000000000000..5818cf9c5a0840b43559bae5da5c6f74202bd6db
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-6-55_2114738097/20250103_220709.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6be942f9fdefb16c134070a9193b4423b47ef42f1ce717819c56f7b6f6f330c6
+size 870586
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-6-55_2114738097/20250103_220711.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-6-55_2114738097/20250103_220711.png
new file mode 100644
index 0000000000000000000000000000000000000000..39a06097c6d217bc3c15e3f4a86aa511f612a301
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-6-55_2114738097/20250103_220711.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcc87992775a0fa332fc849be2bdb4757d0b4a5443836c6a7906d696c545726b
+size 873143
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-6-55_2114738097/20250103_220713.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-6-55_2114738097/20250103_220713.png
new file mode 100644
index 0000000000000000000000000000000000000000..366a77b06258ddccc96860f6f9cc2c583ce5e3f9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-6-55_2114738097/20250103_220713.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1dee769e9d681dc898ce8e38f48482174f1202fecc9a449bf18cba6fbed93c91
+size 872681
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-6-55_2114738097/20250103_220716.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-6-55_2114738097/20250103_220716.png
new file mode 100644
index 0000000000000000000000000000000000000000..d78d9c63ea55b77ac303d5e74ea8de22a259b71b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-6-55_2114738097/20250103_220716.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:891ac20e7487e891edd628b8de7d58097a0f045c6c4e9d453d83ec034a106b93
+size 873454
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-6-55_2114738097/20250103_220718.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-6-55_2114738097/20250103_220718.png
new file mode 100644
index 0000000000000000000000000000000000000000..492e3558fe4790e75a82a31f6908959a208f515d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-6-55_2114738097/20250103_220718.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0f7e95849a8aa0f64bb3fb8917b5f6da024ddfa7124446f737fd4ba0c141627
+size 874578
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-6-55_2114738097/20250103_220720.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-6-55_2114738097/20250103_220720.png
new file mode 100644
index 0000000000000000000000000000000000000000..3f6229eed2270ef69d051c60cf14a3ce3696f449
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-6-55_2114738097/20250103_220720.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8403b629205da69eff91e6385801e176677df3fa5358be41b9135180f8931399
+size 873003
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-6-55_2114738097/20250103_220722.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-6-55_2114738097/20250103_220722.png
new file mode 100644
index 0000000000000000000000000000000000000000..9218c91f0e3296a8086ebd6a9d086f3b5a0f7375
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-6-55_2114738097/20250103_220722.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:942284f7651866d2a09cf348010a63dfc027b9abcfd50f54a9d48a1855e8fe2e
+size 880758
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-6-55_2114738097/20250103_220724.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-6-55_2114738097/20250103_220724.png
new file mode 100644
index 0000000000000000000000000000000000000000..8662e5941ac7c1054a46bb384cc81dc5b1875708
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-6-55_2114738097/20250103_220724.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1eda7aa433de4d8c1a7370e7d59462124ccf90f30daa88e93e9fc69e74941b8d
+size 883325
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-6-55_2114738097/20250103_220727.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-6-55_2114738097/20250103_220727.png
new file mode 100644
index 0000000000000000000000000000000000000000..a8a87a1131c14e5fb37427805605417a26c8fc66
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_22-6-55_2114738097/20250103_220727.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28ed9ca0ba076432acd78a2a90c604ad89833690e1975bcbe7b07b5ab14cfc6d
+size 884739
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-19-10_1470503465/20250103_231916.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-19-10_1470503465/20250103_231916.png
new file mode 100644
index 0000000000000000000000000000000000000000..8fa0c77f0cce4295e34946f998410fbf694b6c02
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-19-10_1470503465/20250103_231916.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:768367007f1b4be308ee11fc24753e8a72d9f33af8b5c38e762d921dfb96d469
+size 910097
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-19-10_1470503465/20250103_231918.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-19-10_1470503465/20250103_231918.png
new file mode 100644
index 0000000000000000000000000000000000000000..bd7e03a5ecd8e3acf495f1ed11d540c49689ad3e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-19-10_1470503465/20250103_231918.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15ee01bc45c1b73f6e9e1b546d87887c80cc383e99568bd102f9491165e2f0ec
+size 905379
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-19-10_1470503465/20250103_231921.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-19-10_1470503465/20250103_231921.png
new file mode 100644
index 0000000000000000000000000000000000000000..1bdfc4687d0f0b7d2a123964510dcdb700d4bf38
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-19-10_1470503465/20250103_231921.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2268b3c2a48171bd8abff8c5307e861cd5aa1aacf35cb6f52d8e7b5750f3e0b
+size 894368
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-19-10_1470503465/20250103_231923.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-19-10_1470503465/20250103_231923.png
new file mode 100644
index 0000000000000000000000000000000000000000..3201b981d78acb6243669e2b8d7fe0b8584d3b29
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-19-10_1470503465/20250103_231923.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5faf2e5948759bb4ae800dfd1dd9fce8e5857dc4c559a471866d85a24cb313a
+size 889705
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-19-10_1470503465/20250103_231925.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-19-10_1470503465/20250103_231925.png
new file mode 100644
index 0000000000000000000000000000000000000000..a992e941b5d96eee111238a0e59ab6e81a9a5708
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-19-10_1470503465/20250103_231925.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ef5977d03c691de6285171d7c91fb954c48060d9be1199eed9a16df00f1ed55
+size 888410
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-19-10_1470503465/20250103_231927.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-19-10_1470503465/20250103_231927.png
new file mode 100644
index 0000000000000000000000000000000000000000..a569c83371d4103336171c64f813ae5afb265501
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-19-10_1470503465/20250103_231927.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a759fbf50fbab77cdc1b7cc311fc86517588f803532f49a3468d7f828acbba91
+size 887414
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-19-10_1470503465/20250103_231930.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-19-10_1470503465/20250103_231930.png
new file mode 100644
index 0000000000000000000000000000000000000000..14910d9de0f838d9f682796964c534acaaa09c95
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-19-10_1470503465/20250103_231930.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8e5b6e4cf2c68e72d247667e194e01749b497594260e26caeaf8e32706da655
+size 886174
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-27-13_2113903881/20250103_232723.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-27-13_2113903881/20250103_232723.png
new file mode 100644
index 0000000000000000000000000000000000000000..c80cadfee9aefd43e759a3eb1dac211448363058
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-27-13_2113903881/20250103_232723.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:837afbe70f6d2c47d99814cdcb44797180e970eb6c19be9325e046c788596175
+size 844991
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-27-13_2113903881/20250103_232729.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-27-13_2113903881/20250103_232729.png
new file mode 100644
index 0000000000000000000000000000000000000000..23a152723f194cdeee6952086b2d55fe7355c781
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-27-13_2113903881/20250103_232729.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61838871900bfb85df7482ebb4dd30e2113efb65d114457e106c75a802e9f358
+size 859245
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-27-13_2113903881/20250103_232738.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-27-13_2113903881/20250103_232738.png
new file mode 100644
index 0000000000000000000000000000000000000000..9d86420be012b2fbb5a6f982a3f43503b8f2042a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-27-13_2113903881/20250103_232738.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb2e84e2d804ca76728ee5c3a9f8bccd431b9f86f7bf16971718371c6a1a5de1
+size 803642
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-27-13_2113903881/20250103_232740.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-27-13_2113903881/20250103_232740.png
new file mode 100644
index 0000000000000000000000000000000000000000..50f6f57d6431ae6b2b3709f52af95632183891d5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-27-13_2113903881/20250103_232740.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c834815e6c919cb0f5c331a0d4249180d53a6ea9800431a7d745bf673067829
+size 806131
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-27-13_2113903881/20250103_232750.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-27-13_2113903881/20250103_232750.png
new file mode 100644
index 0000000000000000000000000000000000000000..55455523927cf8ae139511c11b1d3ba7cbf5ad0a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-27-13_2113903881/20250103_232750.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:958be4700f228ba3bb4be2dc6348cff9355b249407883654b2eca2dd0a9556c2
+size 794594
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-32-11_824272813/20250103_233216.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-32-11_824272813/20250103_233216.png
new file mode 100644
index 0000000000000000000000000000000000000000..316fe89e69f1e869b5e26db7584a47f2ce054cd9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-32-11_824272813/20250103_233216.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58441c6743d8c197d71429f28f1f0ca97a15bddafbea2446ed8bdf9dd7a115fa
+size 883240
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-32-11_824272813/20250103_233218.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-32-11_824272813/20250103_233218.png
new file mode 100644
index 0000000000000000000000000000000000000000..4e393e793603cd19273a7151ade2c06366333fb3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-32-11_824272813/20250103_233218.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4deca937a832389f223f8b6b8d37513342e0ca3d54f673958deb59dbd00fa18b
+size 862607
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-32-11_824272813/20250103_233221.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-32-11_824272813/20250103_233221.png
new file mode 100644
index 0000000000000000000000000000000000000000..141e0e24a52cddb41304ea3c9cd61b8876ea1e10
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-32-11_824272813/20250103_233221.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80c753238d16b5804a0c975af979a5aeecc1b266932905b7bb40f24140a651c2
+size 863458
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-32-11_824272813/20250103_233223.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-32-11_824272813/20250103_233223.png
new file mode 100644
index 0000000000000000000000000000000000000000..cfc60840fb3ef7734ae7dfff7d734efadbaa00b2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-32-11_824272813/20250103_233223.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4666e77bdf76e29d0627b8e40a5ba4e9073d7243798804d806e23782e4db4f5d
+size 863417
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-32-11_824272813/20250103_233225.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-32-11_824272813/20250103_233225.png
new file mode 100644
index 0000000000000000000000000000000000000000..7b9474e8a0e24aa2bf97ebc7605a3e80484a7e35
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-32-11_824272813/20250103_233225.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:774626bbd2b996a788819cc2ff59e57ef12f705fbb568113c10137a9c54a1ea7
+size 862792
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-32-11_824272813/20250103_233227.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-32-11_824272813/20250103_233227.png
new file mode 100644
index 0000000000000000000000000000000000000000..33add7c05176d648ef4e10262af641f71cf9ce39
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-32-11_824272813/20250103_233227.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8d0915e00efefff709f466d277931ee94f317e027e78727b4d473767ff8a151
+size 865231
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-32-11_824272813/20250103_233229.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-32-11_824272813/20250103_233229.png
new file mode 100644
index 0000000000000000000000000000000000000000..5bdb47c19dcde1a4a7d669119447becc2af5aabd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-32-11_824272813/20250103_233229.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf1dc528d60319276c3395b33467c0819fb3c4fdcbf240bbe82380f5a37dbc50
+size 869219
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-32-11_824272813/20250103_233231.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-32-11_824272813/20250103_233231.png
new file mode 100644
index 0000000000000000000000000000000000000000..9082e6aadd0787f41d3627abdf0ec92f24a09180
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-32-11_824272813/20250103_233231.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:609389dac33e0bef2c95d9585d37600b4b8fe40292b53d10b21d05242ccb8b88
+size 874367
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-32-11_824272813/20250103_233234.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-32-11_824272813/20250103_233234.png
new file mode 100644
index 0000000000000000000000000000000000000000..575cfb331c0da1be204d8029f7f106d3973f403d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-32-11_824272813/20250103_233234.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:456578a47df5e39249a3201fdef5224c77115c2491ad6c3cfb3a2b7ea407d9d3
+size 828431
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-32-11_824272813/20250103_233236.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-32-11_824272813/20250103_233236.png
new file mode 100644
index 0000000000000000000000000000000000000000..57bf29a4b0cd916e86c4f88938fd64985c094d32
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-32-11_824272813/20250103_233236.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21a54e2426bab74af54999a9b79ed08cc4089a4e0a8147d1858c431bf3b66fa9
+size 821623
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-32-11_824272813/20250103_233238.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-32-11_824272813/20250103_233238.png
new file mode 100644
index 0000000000000000000000000000000000000000..32eb481bcf271d8f63f680c519107f2f2a7883ee
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-32-11_824272813/20250103_233238.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da1672159c508890facad543dd5de1c583523ebd1d02852431d6cf516452ce57
+size 818840
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-32-11_824272813/20250103_233240.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-32-11_824272813/20250103_233240.png
new file mode 100644
index 0000000000000000000000000000000000000000..54e0a05461eeab1fe968f0e6a81a327b8a9d7931
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-32-11_824272813/20250103_233240.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67662dff8dae93dfdd6a4c08e48764b53381997de734c33c16dd3cbd7e107105
+size 816546
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-54-13_846811127/20250103_235416.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-54-13_846811127/20250103_235416.png
new file mode 100644
index 0000000000000000000000000000000000000000..b7fc589965f5f326a09af758961c1afc2fa1c48c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-54-13_846811127/20250103_235416.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6a72c4d7f127b6896ad736b0bc4c81ec8f3c6e6748005966f7b35c6533a099e
+size 779217
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-54-13_846811127/20250103_235418.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-54-13_846811127/20250103_235418.png
new file mode 100644
index 0000000000000000000000000000000000000000..929ce3abe776588eb5b41967b2fbc803208295db
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-54-13_846811127/20250103_235418.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96b53d4915cf0a65b2c603de8f6114cbef6557a71ba7145c63ec6f833a8e3fcf
+size 783733
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-54-13_846811127/20250103_235420.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-54-13_846811127/20250103_235420.png
new file mode 100644
index 0000000000000000000000000000000000000000..19eba182fa3f4514594c64a9bb54a8cb42a9145c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-54-13_846811127/20250103_235420.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:110b57621ff0969645da28021f53eba4788364c24259d1f053e2c2ed13f4cc56
+size 791396
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-54-13_846811127/20250103_235423.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-54-13_846811127/20250103_235423.png
new file mode 100644
index 0000000000000000000000000000000000000000..4371c0ce2c858dd3c4a9b8432fe5311bc4768546
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-54-13_846811127/20250103_235423.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89375b4d685e3bf5f22b22d3bb81e3a5e3520b8883166a04ab8f1a9a6274d6e8
+size 793557
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-54-13_846811127/20250103_235425.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-54-13_846811127/20250103_235425.png
new file mode 100644
index 0000000000000000000000000000000000000000..75353e05772bb61f28f8c611af5c5fb218782d72
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-54-13_846811127/20250103_235425.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29cac4b3c476d7980684965f049b23fba4d837dd8a24541c168e003318774356
+size 796206
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-54-13_846811127/20250103_235427.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-54-13_846811127/20250103_235427.png
new file mode 100644
index 0000000000000000000000000000000000000000..0b0cffc2731077d90f71ea9fd92579ec87b3c2ec
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-54-13_846811127/20250103_235427.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:562d780b85fbb9ce27cd20833187cd8c34e1fc5f3326e212dd4ea33deab84d23
+size 799337
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-54-13_846811127/20250103_235429.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-54-13_846811127/20250103_235429.png
new file mode 100644
index 0000000000000000000000000000000000000000..103121abb04169e255f9aa3c32c7952532e45229
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-54-13_846811127/20250103_235429.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d621f92f07c99606e962f0fe8966e67f7bfbfac31a32ea38d595e5fd53edcc1
+size 802101
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-54-13_846811127/20250103_235431.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-54-13_846811127/20250103_235431.png
new file mode 100644
index 0000000000000000000000000000000000000000..1dfeb4312fb53996d68b8f13db5937c2fcd68189
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-54-13_846811127/20250103_235431.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e067c365f844676060523e2f5309a588ff4c125129e9eaf7e1d7551cb848ff2e
+size 805972
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-54-13_846811127/20250103_235433.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-54-13_846811127/20250103_235433.png
new file mode 100644
index 0000000000000000000000000000000000000000..43f38fbf42cc7899c9eb64a8ed65bfea0260cbab
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-54-13_846811127/20250103_235433.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c92bdb9e86759d0d1dc185540d1f901b9e9aeab15ea1499e6f6211ee8d1212a
+size 808634
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-54-13_846811127/20250103_235435.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-54-13_846811127/20250103_235435.png
new file mode 100644
index 0000000000000000000000000000000000000000..1b391480e5f8867546d9405c52d3654871047f30
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-54-13_846811127/20250103_235435.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53fe9f99c7d7f2556e623cace9fe4c8913c78020d705f8aecc49188dad604c3d
+size 809111
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-54-13_846811127/20250103_235438.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-54-13_846811127/20250103_235438.png
new file mode 100644
index 0000000000000000000000000000000000000000..da1aceb5ee10c33c1210155504f025a359ebd1d0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-54-13_846811127/20250103_235438.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb3da5e7a5ad06decf3b28a8e79cdfced5dd34e8fe18ceeae9ee28e45af5967b
+size 812198
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-54-13_846811127/20250103_235440.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-54-13_846811127/20250103_235440.png
new file mode 100644
index 0000000000000000000000000000000000000000..14f844c50ab2cd0c46e099435d1e9092469b4684
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-54-13_846811127/20250103_235440.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a65e677d3394c10b6e574bf5205d634f1e988628e2d39291056cd2c2e634c306
+size 768502
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-54-13_846811127/20250103_235442.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-54-13_846811127/20250103_235442.png
new file mode 100644
index 0000000000000000000000000000000000000000..40d36611694c2428b8c9a5e5c505c24151ac8cdd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-54-13_846811127/20250103_235442.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34f76581ddb23097e244cf0ec2bb850ada8ae2abdf21e2eed37b2e7c146ebadc
+size 770463
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-54-13_846811127/20250103_235444.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-54-13_846811127/20250103_235444.png
new file mode 100644
index 0000000000000000000000000000000000000000..e4367f884512d4b878527a964c9426f3c732b9e9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-54-13_846811127/20250103_235444.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b30021a1c22ba34a26e5f7d0f6ccb6bc9ec481f44d899115a5c14b6c21106716
+size 771788
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-54-13_846811127/20250103_235446.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-54-13_846811127/20250103_235446.png
new file mode 100644
index 0000000000000000000000000000000000000000..fe5f60f2331f8182986b59d3de313f18de4b512e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-54-13_846811127/20250103_235446.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f3aa1d833bb12d26874477c731aaf00a461a7459cd91461d58febfa38fb89ce
+size 772523
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-54-13_846811127/20250103_235448.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-54-13_846811127/20250103_235448.png
new file mode 100644
index 0000000000000000000000000000000000000000..c129282de8de2b0cbdf7952759140d7d6d9978d1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-54-13_846811127/20250103_235448.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e0d7811b40c1e1416afd847e3129bf29e922e42b28f96dc1c7b1129dee19a87
+size 774208
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-54-13_846811127/20250103_235450.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-54-13_846811127/20250103_235450.png
new file mode 100644
index 0000000000000000000000000000000000000000..1ee152214a9ce754fd7ede4a51bc81c335b77bb5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-54-13_846811127/20250103_235450.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e71cb4541140163bf3846310e7977d0a8edb322adbd66be5b05831d70813077e
+size 775556
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-54-13_846811127/20250103_235452.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-54-13_846811127/20250103_235452.png
new file mode 100644
index 0000000000000000000000000000000000000000..819ae485592a12b5bfccf758333bb8413969fc3e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-54-13_846811127/20250103_235452.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0ec433c268b26291971bcf045b37ae2dc103ef4b889cc3c201d423682d8bd2d
+size 777183
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-54-13_846811127/20250103_235454.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-54-13_846811127/20250103_235454.png
new file mode 100644
index 0000000000000000000000000000000000000000..ffd1e2029752389b90c4ad04af963833e0f321cc
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-3_23-54-13_846811127/20250103_235454.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc2570ef0463b22a953b6dc401af6b84728a885ab84214b3b27f594a42eb1f20
+size 779490
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-11-12_1858721860/20250104_001118.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-11-12_1858721860/20250104_001118.png
new file mode 100644
index 0000000000000000000000000000000000000000..2930ea1b26804232e9cbdb4cced101afcf5aba8b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-11-12_1858721860/20250104_001118.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21aef47f48e028845c89a654b92373d198e40e74612d3c26d7e1d0122dd2382f
+size 911065
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-11-12_1858721860/20250104_001121.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-11-12_1858721860/20250104_001121.png
new file mode 100644
index 0000000000000000000000000000000000000000..bd892d9f03fea5a6baf4644546447c2d0b210528
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-11-12_1858721860/20250104_001121.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db9ce7579d76d0acfa8a39668451842c53707ce8b2d8f89ad9e1b243dff67b9e
+size 902979
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-11-12_1858721860/20250104_001123.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-11-12_1858721860/20250104_001123.png
new file mode 100644
index 0000000000000000000000000000000000000000..91a466f8f9528ce0a48772ffd5517cfaef84c121
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-11-12_1858721860/20250104_001123.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eeaddc88b517bd808b575373d4abec6ecff7f7b97246f057fe2c7b6c2ef26d34
+size 890031
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-11-12_1858721860/20250104_001125.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-11-12_1858721860/20250104_001125.png
new file mode 100644
index 0000000000000000000000000000000000000000..2dc12f87da5bf69ec4657fd442bc7d93863dce03
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-11-12_1858721860/20250104_001125.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bdecd262f5769a42abc42026c51e4fbaa3f326f509d69cd3a8ef541be34cf295
+size 891431
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-11-12_1858721860/20250104_001127.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-11-12_1858721860/20250104_001127.png
new file mode 100644
index 0000000000000000000000000000000000000000..df481b98f2bc6f1e823fbfeec404c6f65d90918f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-11-12_1858721860/20250104_001127.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6eaae44d4ab237c82fbb3a3dd77708636312b1d1f286e08278e1e2216e696197
+size 893452
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-11-12_1858721860/20250104_001129.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-11-12_1858721860/20250104_001129.png
new file mode 100644
index 0000000000000000000000000000000000000000..304823f3ecd78e6a9ee6336d3de7785ae6917054
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-11-12_1858721860/20250104_001129.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cca7fe58f05fe45b7ccfc79d657922e69ea043ee925446ccb8320da888e06792
+size 895640
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-11-12_1858721860/20250104_001132.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-11-12_1858721860/20250104_001132.png
new file mode 100644
index 0000000000000000000000000000000000000000..d7a231eb07849a433adcf29c3cd94d60521de4c8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-11-12_1858721860/20250104_001132.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b38f5dd5bd00ded25bd86f54e7f1a70b6ddc4aae2ecd943b93f3f966847e9fba
+size 905140
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-11-12_1858721860/20250104_001134.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-11-12_1858721860/20250104_001134.png
new file mode 100644
index 0000000000000000000000000000000000000000..5c239b4f2a73d61f7e27404871df33a4b7dd6212
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-11-12_1858721860/20250104_001134.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e37971c6ad1040e2861a906326ff2c6b283550cfe99287694c3334ad68cac15
+size 904216
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-23-44_1137949908/20250104_002349.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-23-44_1137949908/20250104_002349.png
new file mode 100644
index 0000000000000000000000000000000000000000..a7705829c1fde71efaf971328640c0d7b8ff7f0b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-23-44_1137949908/20250104_002349.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c858826f5c3450dc36a08ec13be76a86b2dabd6e4109473a0fabac4e86bfc1b
+size 913011
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-23-44_1137949908/20250104_002351.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-23-44_1137949908/20250104_002351.png
new file mode 100644
index 0000000000000000000000000000000000000000..1395ade711d2bb48d9da0a95f0901daf7e5b0908
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-23-44_1137949908/20250104_002351.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3256d8fdf19c18f5c254e7d66f7840dc85c584ca83d5ae84b4f2ba39c595cde8
+size 899596
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-23-44_1137949908/20250104_002353.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-23-44_1137949908/20250104_002353.png
new file mode 100644
index 0000000000000000000000000000000000000000..9dc03f73a7f93c010ab6be2decddcb5362ab1b44
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-23-44_1137949908/20250104_002353.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d74c9182109a765b7ff2669b5a5331c7fba204d869aaeade4ab2824b155e1bf8
+size 896354
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-23-44_1137949908/20250104_002355.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-23-44_1137949908/20250104_002355.png
new file mode 100644
index 0000000000000000000000000000000000000000..6038c699b7d167721d4b3a7e211c495208750844
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-23-44_1137949908/20250104_002355.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:930e7094be7da704597073ed1f08c62157b4124f17f732fe6a398d117d50ec95
+size 885425
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-23-44_1137949908/20250104_002357.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-23-44_1137949908/20250104_002357.png
new file mode 100644
index 0000000000000000000000000000000000000000..371521980ba16a08b901a30bc6b4297761f2a048
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-23-44_1137949908/20250104_002357.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f557c87892e66762a0a589411490b43fe90e59fb4d4cda6033db873adf521de
+size 877743
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-23-44_1137949908/20250104_002400.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-23-44_1137949908/20250104_002400.png
new file mode 100644
index 0000000000000000000000000000000000000000..6433b4e702ff0534cbf41764bf058199e7a85481
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-23-44_1137949908/20250104_002400.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ad248d265eae57b067d2979da357a1e9621da2ec95142ae347435e7c295b7e5
+size 878224
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-23-44_1137949908/20250104_002402.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-23-44_1137949908/20250104_002402.png
new file mode 100644
index 0000000000000000000000000000000000000000..857febcc8cbe3e4e8e1238c7d6b347de0edd0886
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-23-44_1137949908/20250104_002402.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfde68c3a37da1826b06aac2b2305c285cabf276a9c331e67eaa25222287f23a
+size 878329
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-28-46_150517567/20250104_002850.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-28-46_150517567/20250104_002850.png
new file mode 100644
index 0000000000000000000000000000000000000000..a5a8babf0605bd511a67a9531bbf86e18ea66a28
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-28-46_150517567/20250104_002850.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:632a00881a2eacaaa260104be2180dd5d7336729911e2f202c23f32c69532d03
+size 890034
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-28-46_150517567/20250104_002853.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-28-46_150517567/20250104_002853.png
new file mode 100644
index 0000000000000000000000000000000000000000..3fbb36572c63622ba0262aa34aea7422211fd236
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-28-46_150517567/20250104_002853.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f09104e781b0d255c4952eb78a1aa03a1ef6dc281098c54baf3ede0c07baedfa
+size 888544
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-28-46_150517567/20250104_002855.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-28-46_150517567/20250104_002855.png
new file mode 100644
index 0000000000000000000000000000000000000000..4c53794e0672645ef8858b6ff1d43ad12978030b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-28-46_150517567/20250104_002855.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc70708d27ff84ae5457b3e0e87a8163bd3344d344a01cfff90bee9b90ac3c86
+size 886426
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-28-46_150517567/20250104_002857.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-28-46_150517567/20250104_002857.png
new file mode 100644
index 0000000000000000000000000000000000000000..ef90b8932003dbd906d1ca071f61c93edad3ec22
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-28-46_150517567/20250104_002857.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c30c4ea785710dae3a84267cb1056e22bc9ae27dec3505a89f111ab59b4e427d
+size 886654
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-28-46_150517567/20250104_002859.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-28-46_150517567/20250104_002859.png
new file mode 100644
index 0000000000000000000000000000000000000000..80144eaf57490a7f1856b7e0139692060797f4e8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-28-46_150517567/20250104_002859.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0aa701b856ab7bf101303f55be89a807aca959128f3c12bc7dfd1ebc62f04e4
+size 887314
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-28-46_150517567/20250104_002902.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-28-46_150517567/20250104_002902.png
new file mode 100644
index 0000000000000000000000000000000000000000..5c052cd39e71862189e0694cd508a9a04aa57053
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-28-46_150517567/20250104_002902.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f017c5403c65660bfd67b0d4056a71432183d971ccd17c5d2cefd007c92c1c31
+size 888999
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-28-46_150517567/20250104_002904.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-28-46_150517567/20250104_002904.png
new file mode 100644
index 0000000000000000000000000000000000000000..eb3a943ad94dafa6cdf9b44ae56f037bdbdd273d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-28-46_150517567/20250104_002904.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a343791ed3a47159a6c7b54fdc9ea3cbbb7eb4ab8fa230825548240c7cf2eb18
+size 888903
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-28-46_150517567/20250104_002906.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-28-46_150517567/20250104_002906.png
new file mode 100644
index 0000000000000000000000000000000000000000..9d93c3f4a40811ea9e232c71d5b56392c7989948
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-28-46_150517567/20250104_002906.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0ca22eb877b302747b96ff7ac2a3a77781aa9f14c46e2befbd59a2f51d63f42
+size 889462
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-28-46_150517567/20250104_002908.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-28-46_150517567/20250104_002908.png
new file mode 100644
index 0000000000000000000000000000000000000000..fc1f6c78d15ab09e8897a59d32b9a333116379a5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-28-46_150517567/20250104_002908.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3fa5cefa9f387743dfb903394300a04570449825bff9c915d7ebf3e2c7e11b95
+size 884069
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-28-46_150517567/20250104_002910.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-28-46_150517567/20250104_002910.png
new file mode 100644
index 0000000000000000000000000000000000000000..026e3da2627df834252898b5a9392d986d387f96
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-28-46_150517567/20250104_002910.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63f553281c9505494ace1fe7c5da96f5549ff71f14ed67c4231171e7863acb67
+size 885156
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-28-46_150517567/20250104_002913.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-28-46_150517567/20250104_002913.png
new file mode 100644
index 0000000000000000000000000000000000000000..a2e8daec2d1d3ecde870f248c5b3077fd9c68612
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-28-46_150517567/20250104_002913.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ff0feed25da2934171823a0f3f9dd6d07b4d11922ae5aa737fd8ed5404aa265
+size 887100
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-28-46_150517567/20250104_002915.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-28-46_150517567/20250104_002915.png
new file mode 100644
index 0000000000000000000000000000000000000000..a92835eeb2f257d1ae24f38ea461f1c1e19920fd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-28-46_150517567/20250104_002915.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:afe42242db295050b828e95b70e76dde8dd8f6cd9b5fb2e17545dcffaae79ba1
+size 886559
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-28-46_150517567/20250104_002917.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-28-46_150517567/20250104_002917.png
new file mode 100644
index 0000000000000000000000000000000000000000..a2fe33f9ad1b1f2220d55df4e489515d1ea4b3b2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-28-46_150517567/20250104_002917.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0f7acae20fe25242811c6bf856cd44ec4b106c135aaea67985d756d1b74a052
+size 885769
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-34-52_78012497/20250104_003458.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-34-52_78012497/20250104_003458.png
new file mode 100644
index 0000000000000000000000000000000000000000..15a4bb764f6bde6c4081295884e3b9d6edd2c572
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-34-52_78012497/20250104_003458.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c2a9aa3c652cf0395e2a6d5bb3c6bfcc5d317d32ab97489f249a62415a8d95e
+size 857435
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-34-52_78012497/20250104_003501.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-34-52_78012497/20250104_003501.png
new file mode 100644
index 0000000000000000000000000000000000000000..2c9beecad8a883d8e88aa19a5b12f7a06296f054
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-34-52_78012497/20250104_003501.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b6759059fe6fc7490bd3fdbfac8a8a81557a9720cdb8223b655eb7ff0b915f9
+size 854650
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-34-52_78012497/20250104_003503.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-34-52_78012497/20250104_003503.png
new file mode 100644
index 0000000000000000000000000000000000000000..c995620daba0733a4f00ff23026b105b461a4d22
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-34-52_78012497/20250104_003503.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9854e13dd5e17662cf905c21fd27b786268ce026f3621832c0cf487ae4114854
+size 850726
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-1_332266748/20250104_004307.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-1_332266748/20250104_004307.png
new file mode 100644
index 0000000000000000000000000000000000000000..be632a5c8cb8ebf2a1bc707974329781454fc555
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-1_332266748/20250104_004307.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e00ff99b602df040115b1c8a6fa21489674758184d0648d84fdcc3d20876f7b
+size 888692
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-1_332266748/20250104_004309.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-1_332266748/20250104_004309.png
new file mode 100644
index 0000000000000000000000000000000000000000..c21e3025f0ccb043ee6b7cb6ca7b36f59dff9982
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-1_332266748/20250104_004309.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b00b65f48c83bc68631fc9384bc5790000a33c388235d5742fafd35238d566e5
+size 882494
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-1_332266748/20250104_004311.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-1_332266748/20250104_004311.png
new file mode 100644
index 0000000000000000000000000000000000000000..d9964b73325528d8dbdaba9ed3c4f5c01519ff5e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-1_332266748/20250104_004311.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7cc9d9bfb51616f0793b73b0771b847a613275a91f9771554fe51102cf3abb37
+size 875750
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-1_332266748/20250104_004313.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-1_332266748/20250104_004313.png
new file mode 100644
index 0000000000000000000000000000000000000000..244b0a9e9c9171677bc54f18a388d8ed76c0b6dc
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-1_332266748/20250104_004313.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbe10ec860deb10c43e6207f53ad23ba87bae097d73f67c76391b880b359bcb8
+size 873813
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-1_332266748/20250104_004315.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-1_332266748/20250104_004315.png
new file mode 100644
index 0000000000000000000000000000000000000000..cd6d47f20ecdc86211e2d7a716d7c5aaf9f9fd97
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-1_332266748/20250104_004315.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eff29b7a9df808cf0d3b77abfad67f89016da81d4a9c51cc94efe309111e746d
+size 875672
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-1_332266748/20250104_004317.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-1_332266748/20250104_004317.png
new file mode 100644
index 0000000000000000000000000000000000000000..457c8dec6bbec55d8116c3627e5f93ef5e4ecb45
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-1_332266748/20250104_004317.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24d3696662b5b23ab5f02a97b7e201b3d5abc058c3edbb12e143a883b3fe9827
+size 875514
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-1_332266748/20250104_004320.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-1_332266748/20250104_004320.png
new file mode 100644
index 0000000000000000000000000000000000000000..3d1fe8b35ca09a8a50ed0f30b9be159eef96b31e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-1_332266748/20250104_004320.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74f97242ba3cf233d4ee01e15b800653240c1924cdd071b0217655631e174e34
+size 873798
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-1_332266748/20250104_004322.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-1_332266748/20250104_004322.png
new file mode 100644
index 0000000000000000000000000000000000000000..eebec4e2b15faf786f2be7989bb7e67c2d0f2495
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-1_332266748/20250104_004322.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a64d8b0e5a1030532babc56db4aa1217d025da060795a510a8c20d8417fedc8
+size 872320
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-1_332266748/20250104_004324.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-1_332266748/20250104_004324.png
new file mode 100644
index 0000000000000000000000000000000000000000..932df9b4e7daa4f5d2c49d58f3c85a53052eaee7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-1_332266748/20250104_004324.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83512f327168bce927de7a783d079ff9604f2db58e478ff2ca48199975381527
+size 870883
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-1_332266748/20250104_004326.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-1_332266748/20250104_004326.png
new file mode 100644
index 0000000000000000000000000000000000000000..880102689b384915158ce63ea9400b8c65d2bce3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-1_332266748/20250104_004326.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d39d60c9cba87ababb24947df18749cc7c193233cb55d6f565c0386efc8ba3c
+size 870705
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-1_332266748/20250104_004328.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-1_332266748/20250104_004328.png
new file mode 100644
index 0000000000000000000000000000000000000000..9ea13f0932c980c2c8d54eadfc79e92f83806c4e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-1_332266748/20250104_004328.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2a5a221f018bcebad4fcb48b39a857cd27417919e3458c08bf4f4054e4bb3d9
+size 870208
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-1_332266748/20250104_004330.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-1_332266748/20250104_004330.png
new file mode 100644
index 0000000000000000000000000000000000000000..d8b936f42c3d91d6d69f14862a01cfdc5f152ff2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-1_332266748/20250104_004330.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d39bc8042967a73bc8ce1acb28ed5bf0c3278765d030c66a4428c161c5766870
+size 848792
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-1_332266748/20250104_004332.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-1_332266748/20250104_004332.png
new file mode 100644
index 0000000000000000000000000000000000000000..132adc74558fcd93d061d1b98fd50de74fc5608b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-1_332266748/20250104_004332.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0552a36c187bc8d5ddc23cb932ab5e51a820122c0248ab49ff3643e9f574f47f
+size 843317
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-1_332266748/20250104_004334.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-1_332266748/20250104_004334.png
new file mode 100644
index 0000000000000000000000000000000000000000..c9cfd4eceafc89f7174bf891d789e1d4b73c5913
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-1_332266748/20250104_004334.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74e6127ac0c798beb5c4a62af9443ee4b4bd9499c093e996257d3014fd33b818
+size 836877
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-1_332266748/20250104_004336.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-1_332266748/20250104_004336.png
new file mode 100644
index 0000000000000000000000000000000000000000..87fe7174a0b5ec78f09d28416a2542691aabaf96
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-1_332266748/20250104_004336.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e52e41bfbc198c2ab78db64decbad99d8f690f5aaef519b8545b9f93ec882eb
+size 829692
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-56_31308902/20250104_004400.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-56_31308902/20250104_004400.png
new file mode 100644
index 0000000000000000000000000000000000000000..acc17425720cadb1bb5dc956149d4284b6b5a9cd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-56_31308902/20250104_004400.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:135e294cc8721042d0ced743f9efc1bc3ed1934f17608609ff3e05d843ca53bb
+size 857169
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-56_31308902/20250104_004402.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-56_31308902/20250104_004402.png
new file mode 100644
index 0000000000000000000000000000000000000000..98341b96ba5e3af9f38ccb6d3416fed89b7bde75
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-56_31308902/20250104_004402.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5921b891a26cc661a776d9164f6ce0a2d3e7bfbd4ad1c3eba533668a3607241b
+size 826518
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-56_31308902/20250104_004404.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-56_31308902/20250104_004404.png
new file mode 100644
index 0000000000000000000000000000000000000000..f7f5b5125caa6c5288d36640bba394ebdd8f721f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-56_31308902/20250104_004404.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2974f40a1f7dc7446a2c2e158492bc58dc97839a6233e21e004668a717ec51ba
+size 830255
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-56_31308902/20250104_004406.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-56_31308902/20250104_004406.png
new file mode 100644
index 0000000000000000000000000000000000000000..389118e944cdfb3a849db5834ee27fc736faa11d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-56_31308902/20250104_004406.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81892d3144e7b285c00ab8339042d093d6b038bcd4fa9da7dff944f792268578
+size 839136
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-56_31308902/20250104_004409.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-56_31308902/20250104_004409.png
new file mode 100644
index 0000000000000000000000000000000000000000..665cb57b837b5817a932fe5b330cf765e874465c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-56_31308902/20250104_004409.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60792c846137db4da96238df5297cbc744df2bd0d5d1fe1a1010f261a24834dc
+size 843779
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-56_31308902/20250104_004411.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-56_31308902/20250104_004411.png
new file mode 100644
index 0000000000000000000000000000000000000000..dfc0b8cb553c09366341faaa28770fedf0a6d606
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-56_31308902/20250104_004411.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e9f8601c0f3acd0e1c8fcb221d70b77dcf8d9ba30ecb8268f94afa4f956a6b5
+size 848920
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-56_31308902/20250104_004413.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-56_31308902/20250104_004413.png
new file mode 100644
index 0000000000000000000000000000000000000000..b17927b3933d1c99303e1ae50fdd126350246f95
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-56_31308902/20250104_004413.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f0d3677414f09e44b2acbb338b0a280a278ba7eedad74c50e188b4e52787d90
+size 851613
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-56_31308902/20250104_004415.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-56_31308902/20250104_004415.png
new file mode 100644
index 0000000000000000000000000000000000000000..aec322d934fe527e34b65097cbc2ddab699ec529
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-56_31308902/20250104_004415.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea4da29c7e09de8ed630f3fa098a18b9c5411a0308290d23ceea197e2e7df2d7
+size 854646
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-56_31308902/20250104_004417.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-56_31308902/20250104_004417.png
new file mode 100644
index 0000000000000000000000000000000000000000..07a05a3f6e04f61470436b3f98ea950a5df2e7f2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-56_31308902/20250104_004417.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3944c055805dd04705212675e3db23a8b9e2e5ef1ef4c924b78e7d815a8db55
+size 878769
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-56_31308902/20250104_004420.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-56_31308902/20250104_004420.png
new file mode 100644
index 0000000000000000000000000000000000000000..08bfabc86b425d2b516bafc3318031703d6a414f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-56_31308902/20250104_004420.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f31e6c41f0d14013ee521a6cc9939cc01d8cf6189896fe253c33dfedbd83d7cd
+size 927788
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-56_31308902/20250104_004422.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-56_31308902/20250104_004422.png
new file mode 100644
index 0000000000000000000000000000000000000000..1f65f1a36eb41a368feef4522bc41df818de9ef1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-56_31308902/20250104_004422.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed4c8811c62e46e70a30dc4a7470f8f65ab9a7b0406278632cdb9e8bcf5dba83
+size 929610
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-56_31308902/20250104_004424.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-56_31308902/20250104_004424.png
new file mode 100644
index 0000000000000000000000000000000000000000..4b9b75eac53ac702d70bbd4d413f1e8f1c8e7a69
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-56_31308902/20250104_004424.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c33d7c644638546584db61d4bdeeac30cee69312f7c24f1c6b47f4d6137b0503
+size 924522
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-56_31308902/20250104_004426.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-56_31308902/20250104_004426.png
new file mode 100644
index 0000000000000000000000000000000000000000..0d40e72fd14eca820fac84b879400fd126a13523
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-56_31308902/20250104_004426.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:996b539136f1c43114726f36209065835ae720e73177b3cd691dcc6eb569844b
+size 920009
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-56_31308902/20250104_004429.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-56_31308902/20250104_004429.png
new file mode 100644
index 0000000000000000000000000000000000000000..ce041f74bc66f899e1b1b7bb9f4bd4f6db77e7bd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-43-56_31308902/20250104_004429.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe75b112c381ec05eae7d386c64c77f2f73531be00e7e436d32bd4352f63b1b7
+size 916608
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-46-49_559301039/20250104_004652.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-46-49_559301039/20250104_004652.png
new file mode 100644
index 0000000000000000000000000000000000000000..b2acbb0c0804934dbbd2726e2f3b2a97ad4320a2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-46-49_559301039/20250104_004652.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b84552017bfeb9249fe58057b4fe770a2c3411ac317a75328c40d7927a97aebd
+size 885729
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-46-49_559301039/20250104_004655.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-46-49_559301039/20250104_004655.png
new file mode 100644
index 0000000000000000000000000000000000000000..0fe726ffe6c3b4d5b6abe0496418a9bf324823c1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-46-49_559301039/20250104_004655.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a800f93487f09003543d93f1610985ce8d14cec879c7a7ace1000a5a9853a8cb
+size 872935
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-46-49_559301039/20250104_004657.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-46-49_559301039/20250104_004657.png
new file mode 100644
index 0000000000000000000000000000000000000000..5eb920067a2af5a82f06c0e8ab99a7fa0d77b1ff
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-46-49_559301039/20250104_004657.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b19e2c245eff4cab68704d2b4c777781fd5ad48af24f686418583510384f81d
+size 871217
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-46-49_559301039/20250104_004659.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-46-49_559301039/20250104_004659.png
new file mode 100644
index 0000000000000000000000000000000000000000..37105c739f5012bd6b7760bdfff053ad8f423e54
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-46-49_559301039/20250104_004659.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b12c7b8c02e1286f56ea8c74841debbb58d5d5e30938bc2ae2fb1a7f6653dc0
+size 924892
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-46-49_559301039/20250104_004701.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-46-49_559301039/20250104_004701.png
new file mode 100644
index 0000000000000000000000000000000000000000..ee5c7c1c937138d90cf16886b2be834f6374bb11
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_0-46-49_559301039/20250104_004701.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e49faf3767a32deb6909c8e1b6e44eeb30fa1a7425ca0a815eddbe3c1d8d966e
+size 922236
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-2-3_561717988/20250104_010208.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-2-3_561717988/20250104_010208.png
new file mode 100644
index 0000000000000000000000000000000000000000..7caad6ce6e203c7d1006977187cf22ba6930f252
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-2-3_561717988/20250104_010208.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37adfd9715566bd0fd5c3a3244586ac0edca7410bc505c8f26f6e52a2291d12d
+size 892161
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-2-3_561717988/20250104_010211.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-2-3_561717988/20250104_010211.png
new file mode 100644
index 0000000000000000000000000000000000000000..4f6cfba244a986087707b8501b9c941b554d9f6f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-2-3_561717988/20250104_010211.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7d8a58dff70877b65ee9084efa178e0e647da61ea600189f26e65c3cb6555ab
+size 896465
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-2-3_561717988/20250104_010213.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-2-3_561717988/20250104_010213.png
new file mode 100644
index 0000000000000000000000000000000000000000..bdced689025473e198c8366cf3fd2d17c6cf5569
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-2-3_561717988/20250104_010213.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1809cb43565f3b3d60a7c1556fb0bba8ce8d2189523f684d7abc2b669836c4ba
+size 855059
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-2-3_561717988/20250104_010215.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-2-3_561717988/20250104_010215.png
new file mode 100644
index 0000000000000000000000000000000000000000..cc621f630b7735b0cd90d43086d514ec8d21c628
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-2-3_561717988/20250104_010215.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f9f484dbb7f589f9394cab4cb354c813a20db0715953ea132080bb922c86617
+size 850700
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-2-3_561717988/20250104_010217.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-2-3_561717988/20250104_010217.png
new file mode 100644
index 0000000000000000000000000000000000000000..9b2f40f7fa56718f8a89690f5091ddc8c64a827e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-2-3_561717988/20250104_010217.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df6194d6b0ca1b84ba2c39827fe4c215cf0bef3dd9236823aa5c3a7422695eb4
+size 848563
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-2-3_561717988/20250104_010219.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-2-3_561717988/20250104_010219.png
new file mode 100644
index 0000000000000000000000000000000000000000..6293cc3966451d6783aeee73bd187da03f9a1777
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-2-3_561717988/20250104_010219.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:313f1471e4ee42d1d901c89afdce113d2b051bef233f8fd8e004ff2aa3fcbf53
+size 850160
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-2-3_561717988/20250104_010222.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-2-3_561717988/20250104_010222.png
new file mode 100644
index 0000000000000000000000000000000000000000..7736b9b3a2061419e5a4356840a69fa258d87a62
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-2-3_561717988/20250104_010222.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:300606f39dffb65658097f27b8d884819b487c79c45cc49b513f96e6c48c0393
+size 860007
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-2-3_561717988/20250104_010224.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-2-3_561717988/20250104_010224.png
new file mode 100644
index 0000000000000000000000000000000000000000..b2406a5c7d05230487acc3c9038eee72ca9dfc41
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-2-3_561717988/20250104_010224.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19bc1c1a3aa9eb7ddccf61b8b81cddd3c1b85f784ee02564d1437b84d775d81a
+size 874253
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-2-3_561717988/20250104_010226.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-2-3_561717988/20250104_010226.png
new file mode 100644
index 0000000000000000000000000000000000000000..3c5f17590134048201dee90a220564a693c92b05
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-2-3_561717988/20250104_010226.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dec2e465c24e2e132bfa7838d0d545ab1cab73b2744d6b40b3471842988b4bcf
+size 886571
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-2-3_561717988/20250104_010228.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-2-3_561717988/20250104_010228.png
new file mode 100644
index 0000000000000000000000000000000000000000..cfcb65b6fa13844fe04d0c4698d28230e32070ce
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-2-3_561717988/20250104_010228.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8d42a897231764d4bb19eaa3b30ef4c9b0a3c824ad52ac762821983a6897d24
+size 899736
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-2-3_561717988/20250104_010231.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-2-3_561717988/20250104_010231.png
new file mode 100644
index 0000000000000000000000000000000000000000..5bf7ef774759c778f75b48338eb748a667ce2018
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-2-3_561717988/20250104_010231.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14c06ea7c4604899a75b8c2025472274fbc1899b15589adf6be0faaace589170
+size 798899
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-2-3_561717988/20250104_010233.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-2-3_561717988/20250104_010233.png
new file mode 100644
index 0000000000000000000000000000000000000000..35a135e826a3f6a9ef86bd1a053675c88178330e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-2-3_561717988/20250104_010233.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cd1d2b1f495f76f727438f433c4d80a1f03c7a9fd054a03399b1e1b9ed95530
+size 799983
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-2-3_561717988/20250104_010235.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-2-3_561717988/20250104_010235.png
new file mode 100644
index 0000000000000000000000000000000000000000..5c146e74ab467ecbaca5590d2249c9118667c207
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-2-3_561717988/20250104_010235.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a7595dcf40bfd4606b83178917e23cb1ae92542f2f8c519bd6f5fcfaa457a9e
+size 811948
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-43-30_471990783/20250104_014335.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-43-30_471990783/20250104_014335.png
new file mode 100644
index 0000000000000000000000000000000000000000..6bcd5107d3cc945cfbb6a4a8f9c0d58277421403
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-43-30_471990783/20250104_014335.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e6a6de8353c62cb198582e0d81ab4db54e86afd56b9e01acdb375029ef22777
+size 913380
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-43-30_471990783/20250104_014337.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-43-30_471990783/20250104_014337.png
new file mode 100644
index 0000000000000000000000000000000000000000..e89176a7d20562ef6e8e39cfd8a15035f5bf5ee7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-43-30_471990783/20250104_014337.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5c76825b8b8693a5a5aa90d96d728aec3b9f859533aee081acf4b2ab2624b39
+size 907998
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-43-30_471990783/20250104_014340.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-43-30_471990783/20250104_014340.png
new file mode 100644
index 0000000000000000000000000000000000000000..fea01be26cb1e7416b1c9a5c7170809b2887580e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-43-30_471990783/20250104_014340.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e84343cc71ad901a228a988e34ffd3409a9c98c6deb3c95eced00080374cfd8
+size 902326
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-43-30_471990783/20250104_014342.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-43-30_471990783/20250104_014342.png
new file mode 100644
index 0000000000000000000000000000000000000000..d63fa6610144943f19578079443ae8147d5839ec
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-43-30_471990783/20250104_014342.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:488b52fd9ace8767ba968cb54d733e2893ff947d957931e2bd6c8e724e5a6a78
+size 895782
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-43-30_471990783/20250104_014344.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-43-30_471990783/20250104_014344.png
new file mode 100644
index 0000000000000000000000000000000000000000..12d41d678a3d9bc7a37afc11d2a18a6094c21e08
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-43-30_471990783/20250104_014344.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb31b5c821bf8ca3a6db6c086998c48d5c5ae38740aa592d2a426096de89d929
+size 889501
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-43-30_471990783/20250104_014346.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-43-30_471990783/20250104_014346.png
new file mode 100644
index 0000000000000000000000000000000000000000..f968e33115bb9b0bbff198504ffdabcd8ec7d8e6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-43-30_471990783/20250104_014346.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44630fa65a56ddbff27ed93ad2cd9a5ca1be728a5438a714c85be63e202120e1
+size 888053
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-43-30_471990783/20250104_014349.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-43-30_471990783/20250104_014349.png
new file mode 100644
index 0000000000000000000000000000000000000000..f3e234473d2117c9039eef1afec72869b6235ee2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-43-30_471990783/20250104_014349.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67136004ea3b083a47aacfb45e262318469b1627bf29c2a1781dbc9d853c6ee4
+size 882933
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-43-30_471990783/20250104_014351.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-43-30_471990783/20250104_014351.png
new file mode 100644
index 0000000000000000000000000000000000000000..6d8740bc934564c53bb765aadec3d59023e57b44
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-43-30_471990783/20250104_014351.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66c621e466a9617fc766f52155bde51df9d11aef73b52c97f523950e3131e9f2
+size 883344
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-43-30_471990783/20250104_014353.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-43-30_471990783/20250104_014353.png
new file mode 100644
index 0000000000000000000000000000000000000000..af2e100429fc2415ce580341b14f06400cfe75ae
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-43-30_471990783/20250104_014353.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:956628205a52a8044737350bf09e4603b258379808758a435ba6179f9a10bafd
+size 877010
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-43-30_471990783/20250104_014355.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-43-30_471990783/20250104_014355.png
new file mode 100644
index 0000000000000000000000000000000000000000..c83a2a879cd68c242997219ab1b22623dff793b6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-43-30_471990783/20250104_014355.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4be7ad7554aa55245d6e520121d72655d9613b5b6a8355cc074123c1a8bfb90f
+size 874430
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-43-30_471990783/20250104_014357.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-43-30_471990783/20250104_014357.png
new file mode 100644
index 0000000000000000000000000000000000000000..a64c1a1c12590f1e1160580bef04b9489c95b4d9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-43-30_471990783/20250104_014357.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac14b11e8ebc202349fe0ca5f706df0a69757ea4651fc0bf70b620d456e20261
+size 930383
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-43-30_471990783/20250104_014400.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-43-30_471990783/20250104_014400.png
new file mode 100644
index 0000000000000000000000000000000000000000..6437d70a5d0f3adb13e62da47edd9442eff922e8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-43-30_471990783/20250104_014400.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:131c1dcc661cab0c1f0e0453423bbc00fb67ab54b0834279a7f5d202746a2c14
+size 943262
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-43-30_471990783/20250104_014402.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-43-30_471990783/20250104_014402.png
new file mode 100644
index 0000000000000000000000000000000000000000..ea543543cc843f6dd9fe5455aaac6a9315106374
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-43-30_471990783/20250104_014402.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e2ba3035a962c6ed21a928ef8f5d20c16076945cf0338942452f1a6992272cf
+size 940333
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-43-30_471990783/20250104_014404.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-43-30_471990783/20250104_014404.png
new file mode 100644
index 0000000000000000000000000000000000000000..4271d3e1ba5837932453c63cdba46eff03f1d60c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-43-30_471990783/20250104_014404.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6eb94fcbe1228793dbf1750a894cba6122f47e46675c3012be504827fb7f75d
+size 936800
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-43-30_471990783/20250104_014406.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-43-30_471990783/20250104_014406.png
new file mode 100644
index 0000000000000000000000000000000000000000..8689a605e8b81ef1cf92a46e1151ed3d4beec644
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-43-30_471990783/20250104_014406.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:471254b0bcb693104967f4d00e34bb43d6129c159abc7aaca3b669379e747d58
+size 935570
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-43-30_471990783/20250104_014408.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-43-30_471990783/20250104_014408.png
new file mode 100644
index 0000000000000000000000000000000000000000..728c11179b87a0a744e8dc1e608823238be9ccdb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-43-30_471990783/20250104_014408.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85c4fdbad79ebb73515372be4d3aee077ca9470f2faeb2721e4693aa90bfb302
+size 936082
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-43-30_471990783/20250104_014411.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-43-30_471990783/20250104_014411.png
new file mode 100644
index 0000000000000000000000000000000000000000..7e5f56c5f8af0dc2c29267149f9f0f5ce8424970
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-43-30_471990783/20250104_014411.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3f2fc7d6173c518dcdd296886a228a44d88155104cbce9be9053bfb4a7b17bf
+size 938918
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-47-41_1930772757/20250104_014746.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-47-41_1930772757/20250104_014746.png
new file mode 100644
index 0000000000000000000000000000000000000000..9d8911d371c24bab5fefa3d9bac37a8ef177ae78
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-47-41_1930772757/20250104_014746.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:782025f731857f6400f2d02018f3bafb3a817d1039902a2dd2de0aa5b6708e02
+size 922612
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-47-41_1930772757/20250104_014749.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-47-41_1930772757/20250104_014749.png
new file mode 100644
index 0000000000000000000000000000000000000000..42c9f8be996ee0087a6506ca85ee8c252c925569
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-47-41_1930772757/20250104_014749.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:742b16b4195db15d53d8c6402fe8f0525db724a4cee588e6fc05f81118211665
+size 920193
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-47-41_1930772757/20250104_014751.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-47-41_1930772757/20250104_014751.png
new file mode 100644
index 0000000000000000000000000000000000000000..6aca350d855370eddf0d062cbcd1a03026b2c30a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-47-41_1930772757/20250104_014751.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a345b516dea287933f9162635243ad7ed0d1f69e474a34d58f45111b63bc3ec
+size 918708
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-47-41_1930772757/20250104_014753.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-47-41_1930772757/20250104_014753.png
new file mode 100644
index 0000000000000000000000000000000000000000..e772ff53b02ae69465c7452ded753dd06c6c5d72
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-47-41_1930772757/20250104_014753.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be009a89319d6f6609ce06be3a0c1597bf665fb643576ee24f9d3216e4a95659
+size 917909
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-47-41_1930772757/20250104_014756.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-47-41_1930772757/20250104_014756.png
new file mode 100644
index 0000000000000000000000000000000000000000..3a7e6aa689b836ef1ed7e1714e9cc1333bf5ee89
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-47-41_1930772757/20250104_014756.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95d9c2eb77d87d6e59f137e74ae0a2dff8feaffd424f8c56d8cf3650b4997ec4
+size 916485
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-47-41_1930772757/20250104_014758.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-47-41_1930772757/20250104_014758.png
new file mode 100644
index 0000000000000000000000000000000000000000..5d8e253104af0545ee2669707ad7d28622b87bef
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-47-41_1930772757/20250104_014758.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e6293cec192c9622bab1ff8ff9c9e8f4602346cc73bddb2fa83e35d50d23350
+size 914284
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-47-41_1930772757/20250104_014800.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-47-41_1930772757/20250104_014800.png
new file mode 100644
index 0000000000000000000000000000000000000000..7bab80c9f40a676170142e1b1009f63a944140e2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-47-41_1930772757/20250104_014800.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef3078404a183d7cbe87ce2c754b0018de97e729e35c06aa0a2cf807d8264482
+size 912261
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-47-41_1930772757/20250104_014803.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-47-41_1930772757/20250104_014803.png
new file mode 100644
index 0000000000000000000000000000000000000000..7fb3c0071849d063795ff0727b0bc146192f4385
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-47-41_1930772757/20250104_014803.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:924f16a753881b6cc4a84192f299d8b68792527cca3694aeaccab7bef98e7e11
+size 910916
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-47-41_1930772757/20250104_014805.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-47-41_1930772757/20250104_014805.png
new file mode 100644
index 0000000000000000000000000000000000000000..b2f7adb7c3589a3fe5f2b3de18bb714e699e4912
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-47-41_1930772757/20250104_014805.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:923f3c498ee69de1bc517b7dbeaa80bfd17c7cb2d8d62ddf564844f26343bc67
+size 910246
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-51-26_1001089438/20250104_015132.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-51-26_1001089438/20250104_015132.png
new file mode 100644
index 0000000000000000000000000000000000000000..7c4ac8c16e58c0a14b6824b25353231985d32eac
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-51-26_1001089438/20250104_015132.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ddc35a0de4e077d5f30796875b52259383c7c366c8c488d7d22b546bde8412c2
+size 864865
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-51-26_1001089438/20250104_015134.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-51-26_1001089438/20250104_015134.png
new file mode 100644
index 0000000000000000000000000000000000000000..e6ebeb012ddbdfe76054c50da1210e03cbb31480
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-51-26_1001089438/20250104_015134.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c7b8b5f08e23b2621b61384e643ffe885ea50ca989cbd7c08c4c13a4d9fa139
+size 866456
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-51-26_1001089438/20250104_015136.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-51-26_1001089438/20250104_015136.png
new file mode 100644
index 0000000000000000000000000000000000000000..5d662102dd60c61e3f5118a4fe2fe2ebecffa8d4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-51-26_1001089438/20250104_015136.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7ab60130100c680472ac86e53b3a368306d4a8493813562a35c58f5bb1acf0a
+size 867964
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-51-26_1001089438/20250104_015138.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-51-26_1001089438/20250104_015138.png
new file mode 100644
index 0000000000000000000000000000000000000000..d330d80e9badd06e5aff2bcf964861c6f12872e3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-51-26_1001089438/20250104_015138.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d22bcc27ca58f96a5c29b211f03ce031c9f135a00f29913f727615983f661bd
+size 892632
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-51-26_1001089438/20250104_015141.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-51-26_1001089438/20250104_015141.png
new file mode 100644
index 0000000000000000000000000000000000000000..c8a2d61f7f9b5c8ad56fab4b91c04d7006ddbe30
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-51-26_1001089438/20250104_015141.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75959e26165188dbbab92cb38dd0f89662e2a11915631350ae4f2e17ef0e423a
+size 875922
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-51-26_1001089438/20250104_015143.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-51-26_1001089438/20250104_015143.png
new file mode 100644
index 0000000000000000000000000000000000000000..84985bdcb36f9c2e82e1b00cead3ac778b74f2bd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-51-26_1001089438/20250104_015143.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c29592fdd4cddc541eaa579bd2f5b15d5811751541a333dc0f0d8694c312a27d
+size 880947
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-51-26_1001089438/20250104_015145.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-51-26_1001089438/20250104_015145.png
new file mode 100644
index 0000000000000000000000000000000000000000..c3e7d1f1b42649ba82e022d5ef89f84556b4b955
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-51-26_1001089438/20250104_015145.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88d76973f5bb053ac8ea76206101df9761a433395cc5e69c9bcff7f11a2b8dfa
+size 884946
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-51-26_1001089438/20250104_015147.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-51-26_1001089438/20250104_015147.png
new file mode 100644
index 0000000000000000000000000000000000000000..0ff2d140765ad93b38a799e37442cf9e40d66688
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-51-26_1001089438/20250104_015147.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3fe72c67411eac145cef972c2b4379016f58bbf305bf4c2cdc366f622d164328
+size 888366
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-51-26_1001089438/20250104_015149.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-51-26_1001089438/20250104_015149.png
new file mode 100644
index 0000000000000000000000000000000000000000..8c9d1d2e832f130279591bfbecee0ca146ce16c7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-51-26_1001089438/20250104_015149.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58c806f31d45ad9497546427b0d9ba2dc65b56b4a543c21c46e73a170ec47ade
+size 891808
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-51-26_1001089438/20250104_015152.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-51-26_1001089438/20250104_015152.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c43e145cc03d1c7d50f943c4ee29df09d6c20f7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-51-26_1001089438/20250104_015152.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a51ac3bfa4e6b379a0f1b4edba76d10b6775e02ebb23bc396551e4e647763c1
+size 893632
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-51-26_1001089438/20250104_015154.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-51-26_1001089438/20250104_015154.png
new file mode 100644
index 0000000000000000000000000000000000000000..a6a9519233dd35a11d258f9174be0f2ecdb506ab
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-51-26_1001089438/20250104_015154.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:129425ecadd4c4d7bc152a2e74f14f5c6219d32644be787b07d4dcebb0fafe0e
+size 895533
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-51-26_1001089438/20250104_015156.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-51-26_1001089438/20250104_015156.png
new file mode 100644
index 0000000000000000000000000000000000000000..09f50e6ce5b23ee4d9d0843ef26640e25f8d420f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-51-26_1001089438/20250104_015156.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:765efce56d7e66da145cffc174493eba02c31a0e9f90118cad11aeaf00ff9902
+size 902716
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-51-26_1001089438/20250104_015158.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-51-26_1001089438/20250104_015158.png
new file mode 100644
index 0000000000000000000000000000000000000000..972c040e2ccb34f8f2deb7e2e2d84bd577307329
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-51-26_1001089438/20250104_015158.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cad72f200ca5b56cd8aa93940547e96e22c6c4e2f420922203ad242bfd46281a
+size 904091
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-51-26_1001089438/20250104_015200.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-51-26_1001089438/20250104_015200.png
new file mode 100644
index 0000000000000000000000000000000000000000..06f1ced59cf3d1718b01ba0750d95149d9632a5b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-51-26_1001089438/20250104_015200.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1f8c25d8642ca2b18ce3b6bae9d7e5feca66181ed248e43bda43a954bddad8f
+size 905520
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-51-26_1001089438/20250104_015203.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-51-26_1001089438/20250104_015203.png
new file mode 100644
index 0000000000000000000000000000000000000000..b5454f72dc33074371c9ee80f0ae4c72f6909a37
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-51-26_1001089438/20250104_015203.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d502b6dadd73e0424acbbdb9953a4cd4d60488bc36962c1f08f760972af2e3e
+size 905055
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-51-26_1001089438/20250104_015205.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-51-26_1001089438/20250104_015205.png
new file mode 100644
index 0000000000000000000000000000000000000000..be12dcddcca221c3b84e993c245e5eb5b3904a7a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-51-26_1001089438/20250104_015205.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4db9cd72e7abbb7dd7f640f6ed21d2187cc8fe07a8ca72a42bf69ffd8d375ca0
+size 904662
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-51-26_1001089438/20250104_015207.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-51-26_1001089438/20250104_015207.png
new file mode 100644
index 0000000000000000000000000000000000000000..6b90d61f0c1b6faefad3129b992d1e81ff180fb5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-51-26_1001089438/20250104_015207.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:afb84c234ae0ca2c895738747c87bc15a037804e7eb12f274369925fee1713fd
+size 903241
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-53-7_394633074/20250104_015313.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-53-7_394633074/20250104_015313.png
new file mode 100644
index 0000000000000000000000000000000000000000..f2f3ad146774970f941e9253d88825769c9caeda
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-53-7_394633074/20250104_015313.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:327d7711d3a3484b7fc2ae39b655a11eaee07212fce2c892426ca75195ccbe6e
+size 891350
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-53-7_394633074/20250104_015315.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-53-7_394633074/20250104_015315.png
new file mode 100644
index 0000000000000000000000000000000000000000..9377f5cc9606730f7cf527a2a4c8187c61b56c91
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-53-7_394633074/20250104_015315.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac61b16cd7b00a2ee0793737897cb87399fb4de7f21ce76215befe2aa5e03705
+size 893626
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-53-7_394633074/20250104_015318.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-53-7_394633074/20250104_015318.png
new file mode 100644
index 0000000000000000000000000000000000000000..b3297533982e13b5600b04f104c383e4eccefc97
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-53-7_394633074/20250104_015318.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80300ae4aace3b92d3c75c010e1c9c7943fb5e22d54160f9720a1b73acfe8fac
+size 902740
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-53-7_394633074/20250104_015320.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-53-7_394633074/20250104_015320.png
new file mode 100644
index 0000000000000000000000000000000000000000..1adc345bb81c447f9096e4f063b9f0795dc595a7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-53-7_394633074/20250104_015320.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3b9bea5cdddf25c0b05c381dc89f0842fe7100b733482179f5ad89e7bd26244
+size 907315
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-53-7_394633074/20250104_015322.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-53-7_394633074/20250104_015322.png
new file mode 100644
index 0000000000000000000000000000000000000000..a7bbea973536c0493d37710acd81fbc0347b32ac
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-53-7_394633074/20250104_015322.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6552ffd8bc8b8172255d6691e8e7dacf9fe28fe73150a3613da1fa0cad550915
+size 911973
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-53-7_394633074/20250104_015325.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-53-7_394633074/20250104_015325.png
new file mode 100644
index 0000000000000000000000000000000000000000..4e9af5582688c81e6bb5a40ff9ac0b26e3006e01
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-53-7_394633074/20250104_015325.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a18ebdca32dcdd053b9c07675bb9891493334e3aa4b1a98c08a14729868a593c
+size 914431
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-53-7_394633074/20250104_015327.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-53-7_394633074/20250104_015327.png
new file mode 100644
index 0000000000000000000000000000000000000000..d210a7945910c811f16da47f0a1129de7d73f059
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-53-7_394633074/20250104_015327.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8b8ecf88431fa9fede47c7f43641c73a986063f66583ce6d556258577f09c63
+size 909825
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-53-7_394633074/20250104_015329.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-53-7_394633074/20250104_015329.png
new file mode 100644
index 0000000000000000000000000000000000000000..ef5f4ffc11baf5da34c3cdf7a7c5cf3c53439cf0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-53-7_394633074/20250104_015329.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25f92a7a2baab6074fbb8404f6770ad2486a28797665c88b20301c7d83b2e4bd
+size 908991
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-53-7_394633074/20250104_015331.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-53-7_394633074/20250104_015331.png
new file mode 100644
index 0000000000000000000000000000000000000000..a4adb967db2dbc9f625ed1c348334104e3a41db8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-53-7_394633074/20250104_015331.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e2074c55142c8f4d5b3fde4b4d475a6684be4295d5948a080b00ebb2715c6f2
+size 906315
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-53-7_394633074/20250104_015333.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-53-7_394633074/20250104_015333.png
new file mode 100644
index 0000000000000000000000000000000000000000..daf88421f68470381ed18b30fd14d1da2e25e4bd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-53-7_394633074/20250104_015333.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5a2a31649392f2532870b82220668b15c96bcac48837e2a3f88375d7c27d607
+size 903711
diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-53-7_394633074/20250104_015335.png b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-53-7_394633074/20250104_015335.png
new file mode 100644
index 0000000000000000000000000000000000000000..5cd491499cdac07c3220696ecced331f2cb6f63a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_1-53-7_394633074/20250104_015335.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a09a1eff158c39c02e423c171f4e290a4533d55a19e6b339c877b10b92c4332
+size 901933