diff --git a/Image/env_airsim_gz/astar_data/high_long/2025-01-19_04-48-04_940338/pose.jsonl b/Image/env_airsim_gz/astar_data/high_long/2025-01-19_04-48-04_940338/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a5b53d15bb5cba969c19483fb3cce25ab9cff246
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_long/2025-01-19_04-48-04_940338/pose.jsonl
@@ -0,0 +1,1380 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -173.7325276618024,
+            63.47967146863306,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -172.2325276618024,
+            60.88159525727974,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -170.7325276618024,
+            58.283519045926425,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -169.2325276618024,
+            55.68544283457311,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -167.7325276618024,
+            53.08736662321979,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -166.2325276618024,
+            50.48929041186648,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -164.7325276618024,
+            47.89121420051316,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -163.2325276618024,
+            45.293137989159845,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -161.7325276618024,
+            42.69506177780653,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -160.2325276618024,
+            40.09698556645321,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -158.7325276618024,
+            37.4989093550999,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -157.2325276618024,
+            34.90083314374658,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -155.7325276618024,
+            32.302756932393265,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -154.2325276618024,
+            29.70468072103995,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -152.7325276618024,
+            27.106604509686633,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -151.2325276618024,
+            24.508528298333317,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -149.7325276618024,
+            21.91045208698,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -148.2325276618024,
+            19.312375875626685,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -146.7325276618024,
+            16.71429966427337,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -145.2325276618024,
+            14.116223452920053,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -143.7325276618024,
+            11.518147241566737,
+            150.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -143.7325276618024,
+            11.518147241566737,
+            153.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -143.7325276618024,
+            11.518147241566737,
+            156.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -143.7325276618024,
+            11.518147241566737,
+            159.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -143.7325276618024,
+            11.518147241566737,
+            162.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -143.7325276618024,
+            11.518147241566737,
+            165.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -143.7325276618024,
+            11.518147241566737,
+            168.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -143.7325276618024,
+            11.518147241566737,
+            171.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -143.7325276618024,
+            11.518147241566737,
+            174.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -143.7325276618024,
+            11.518147241566737,
+            177.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -143.7325276618024,
+            11.518147241566737,
+            180.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -143.7325276618024,
+            11.518147241566737,
+            183.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -143.7325276618024,
+            11.518147241566737,
+            186.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -143.7325276618024,
+            11.518147241566737,
+            189.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -143.7325276618024,
+            11.518147241566737,
+            192.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -143.7325276618024,
+            11.518147241566737,
+            195.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -143.7325276618024,
+            11.518147241566737,
+            198.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -143.7325276618024,
+            11.518147241566737,
+            201.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -143.7325276618024,
+            11.518147241566737,
+            204.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -143.7325276618024,
+            11.518147241566737,
+            207.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -143.7325276618024,
+            11.518147241566737,
+            210.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -143.7325276618024,
+            11.518147241566737,
+            213.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -143.7325276618024,
+            11.518147241566737,
+            216.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -143.7325276618024,
+            11.518147241566737,
+            219.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -143.7325276618024,
+            11.518147241566737,
+            222.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -143.7325276618024,
+            11.518147241566737,
+            225.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -143.7325276618024,
+            11.518147241566737,
+            228.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -143.7325276618024,
+            11.518147241566737,
+            231.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -143.7325276618024,
+            11.518147241566737,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -143.7325276618024,
+            8.518147241566737,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -143.7325276618024,
+            5.518147241566737,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -143.7325276618024,
+            2.518147241566737,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -143.7325276618024,
+            -0.4818527584332628,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -143.7325276618024,
+            -3.481852758433263,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -143.7325276618024,
+            -6.481852758433263,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -143.7325276618024,
+            -9.481852758433263,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -143.7325276618024,
+            -12.481852758433263,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -143.7325276618024,
+            -15.481852758433263,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            -143.7325276618024,
+            -18.481852758433263,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            -143.7325276618024,
+            -21.481852758433263,
+            231.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            -143.7325276618024,
+            -21.481852758433263,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            -142.2325276618024,
+            -24.07992896978658,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            -140.7325276618024,
+            -26.678005181139895,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            -139.2325276618024,
+            -29.27608139249321,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            -137.7325276618024,
+            -31.874157603846527,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            -136.2325276618024,
+            -34.47223381519984,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            -134.7325276618024,
+            -37.07031002655316,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            -133.2325276618024,
+            -39.668386237906475,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            -131.7325276618024,
+            -42.26646244925979,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            -130.2325276618024,
+            -44.86453866061311,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            -128.7325276618024,
+            -47.46261487196642,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            -127.23252766180241,
+            -50.06069108331974,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            -125.73252766180241,
+            -52.658767294673055,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            -124.23252766180241,
+            -55.25684350602637,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            -122.73252766180241,
+            -57.85491971737969,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            -121.23252766180241,
+            -60.452995928733,
+            231.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            -121.23252766180241,
+            -60.452995928733,
+            228.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            -121.23252766180241,
+            -60.452995928733,
+            225.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            -121.23252766180241,
+            -60.452995928733,
+            222.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            -121.23252766180241,
+            -60.452995928733,
+            219.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            -121.23252766180241,
+            -60.452995928733,
+            216.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 81,
+        "pos": [
+            -121.23252766180241,
+            -60.452995928733,
+            213.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 82,
+        "pos": [
+            -121.23252766180241,
+            -60.452995928733,
+            210.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 83,
+        "pos": [
+            -121.23252766180241,
+            -60.452995928733,
+            207.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 84,
+        "pos": [
+            -121.23252766180241,
+            -60.452995928733,
+            204.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 85,
+        "pos": [
+            -121.23252766180241,
+            -60.452995928733,
+            201.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 86,
+        "pos": [
+            -121.23252766180241,
+            -60.452995928733,
+            198.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 87,
+        "pos": [
+            -121.23252766180241,
+            -60.452995928733,
+            195.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 88,
+        "pos": [
+            -121.23252766180241,
+            -60.452995928733,
+            192.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 89,
+        "pos": [
+            -121.23252766180241,
+            -60.452995928733,
+            189.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 90,
+        "pos": [
+            -121.23252766180241,
+            -60.452995928733,
+            186.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 91,
+        "pos": [
+            -121.23252766180241,
+            -60.452995928733,
+            183.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 92,
+        "pos": [
+            -121.23252766180241,
+            -60.452995928733,
+            180.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 93,
+        "pos": [
+            -121.23252766180241,
+            -60.452995928733,
+            177.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 94,
+        "pos": [
+            -121.23252766180241,
+            -60.452995928733,
+            174.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 95,
+        "pos": [
+            -121.23252766180241,
+            -60.452995928733,
+            171.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 96,
+        "pos": [
+            -121.23252766180241,
+            -60.452995928733,
+            168.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 97,
+        "pos": [
+            -121.23252766180241,
+            -60.452995928733,
+            165.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 98,
+        "pos": [
+            -121.23252766180241,
+            -60.452995928733,
+            162.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 99,
+        "pos": [
+            -121.23252766180241,
+            -60.452995928733,
+            159.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 100,
+        "pos": [
+            -121.23252766180241,
+            -60.452995928733,
+            156.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 101,
+        "pos": [
+            -121.23252766180241,
+            -60.452995928733,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 102,
+        "pos": [
+            -119.73252766180241,
+            -63.05107214008632,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 103,
+        "pos": [
+            -118.23252766180241,
+            -65.64914835143964,
+            153.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 104,
+        "pos": [
+            -118.23252766180241,
+            -65.64914835143964,
+            150.28656177480838
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -104.0,
+            -96.0,
+            248.592
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_long/2025-01-19_05-02-47_915516/pose.jsonl b/Image/env_airsim_gz/astar_data/high_long/2025-01-19_05-02-47_915516/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9555311bcb12cda57a552801d0b350723553f82c
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_long/2025-01-19_05-02-47_915516/pose.jsonl
@@ -0,0 +1,704 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -768.9230232565502,
+            -51.73177583591348,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -767.4230232565502,
+            -54.3298520472668,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -765.9230232565502,
+            -56.92792825862011,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -764.4230232565502,
+            -59.52600446997343,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -762.9230232565502,
+            -62.124080681326745,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -761.4230232565502,
+            -64.72215689268006,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -759.9230232565502,
+            -67.32023310403338,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -758.4230232565502,
+            -69.9183093153867,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -756.9230232565502,
+            -72.51638552674001,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -755.4230232565502,
+            -75.11446173809333,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -753.9230232565502,
+            -77.71253794944664,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -752.4230232565502,
+            -80.31061416079996,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -750.9230232565502,
+            -82.90869037215327,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -749.4230232565502,
+            -85.50676658350659,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -747.9230232565502,
+            -88.1048427948599,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -746.4230232565502,
+            -90.70291900621322,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -744.9230232565502,
+            -93.30099521756654,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -743.4230232565502,
+            -95.89907142891985,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -741.9230232565502,
+            -98.49714764027317,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -740.4230232565502,
+            -101.09522385162649,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -738.9230232565502,
+            -103.6933000629798,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -737.4230232565502,
+            -106.29137627433312,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -735.9230232565502,
+            -108.88945248568643,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -734.4230232565502,
+            -111.48752869703975,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -732.9230232565502,
+            -114.08560490839307,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -731.4230232565502,
+            -116.68368111974638,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -729.9230232565502,
+            -119.2817573310997,
+            150.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -729.9230232565502,
+            -119.2817573310997,
+            153.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -729.9230232565502,
+            -119.2817573310997,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -729.9230232565502,
+            -122.2817573310997,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -729.9230232565502,
+            -125.2817573310997,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -729.9230232565502,
+            -128.2817573310997,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -729.9230232565502,
+            -131.2817573310997,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -729.9230232565502,
+            -134.2817573310997,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -729.9230232565502,
+            -137.2817573310997,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -729.9230232565502,
+            -140.2817573310997,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -729.9230232565502,
+            -143.2817573310997,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -729.9230232565502,
+            -146.2817573310997,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -729.9230232565502,
+            -149.2817573310997,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -729.9230232565502,
+            -152.2817573310997,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -729.9230232565502,
+            -155.2817573310997,
+            153.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -729.9230232565502,
+            -155.2817573310997,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -728.4230232565502,
+            -157.879833542453,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -726.9230232565502,
+            -160.47790975380633,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -725.4230232565502,
+            -163.07598596515965,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -723.9230232565502,
+            -165.67406217651296,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -722.4230232565502,
+            -168.27213838786628,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -720.9230232565502,
+            -170.8702145992196,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -719.4230232565502,
+            -173.4682908105729,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -717.9230232565502,
+            -176.06636702192623,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -716.4230232565502,
+            -178.66444323327954,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -714.9230232565502,
+            -181.26251944463286,
+            153.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -714.9230232565502,
+            -181.26251944463286,
+            150.28656177480838
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -708.0,
+            -200.0,
+            147.68
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_long/2025-01-19_05-11-26_548387/pose.jsonl b/Image/env_airsim_gz/astar_data/high_long/2025-01-19_05-11-26_548387/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..771baf52ad76d98bd2d5a6e6bbac3618607c2bef
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_long/2025-01-19_05-11-26_548387/pose.jsonl
@@ -0,0 +1,782 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -568.3221947730879,
+            -32.412358946126375,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -566.8221947730879,
+            -35.01043515747969,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -565.3221947730879,
+            -37.60851136883301,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -563.8221947730879,
+            -40.20658758018632,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -562.3221947730879,
+            -42.80466379153964,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -560.8221947730879,
+            -45.402740002892955,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -559.3221947730879,
+            -48.00081621424627,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -557.8221947730879,
+            -50.59889242559959,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -556.3221947730879,
+            -53.1969686369529,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -554.8221947730879,
+            -55.79504484830622,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -553.3221947730879,
+            -58.393121059659535,
+            150.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -553.3221947730879,
+            -58.393121059659535,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -550.7241185617345,
+            -59.893121059659535,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -548.1260423503811,
+            -61.393121059659535,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -545.5279661390277,
+            -62.893121059659535,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -542.9298899276744,
+            -64.39312105965953,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -540.331813716321,
+            -65.89312105965953,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -537.7337375049676,
+            -67.39312105965953,
+            150.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -537.7337375049676,
+            -67.39312105965953,
+            150.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -537.7337375049676,
+            -67.39312105965953,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.570796326794887
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -537.7337375049676,
+            -70.39312105965953,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -537.7337375049676,
+            -73.39312105965953,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -537.7337375049676,
+            -76.39312105965953,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -537.7337375049676,
+            -79.39312105965953,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -537.7337375049676,
+            -82.39312105965953,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -537.7337375049676,
+            -85.39312105965953,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -537.7337375049676,
+            -88.39312105965953,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -537.7337375049676,
+            -91.39312105965953,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -537.7337375049676,
+            -94.39312105965953,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -537.7337375049676,
+            -97.39312105965953,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -537.7337375049676,
+            -100.39312105965953,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -537.7337375049676,
+            -103.39312105965953,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -537.7337375049676,
+            -106.39312105965953,
+            150.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -537.7337375049676,
+            -106.39312105965953,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -537.7337375049676,
+            -109.39312105965953,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -537.7337375049676,
+            -112.39312105965953,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -537.7337375049676,
+            -115.39312105965953,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -537.7337375049676,
+            -118.39312105965953,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -537.7337375049676,
+            -121.39312105965953,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -537.7337375049676,
+            -124.39312105965953,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -537.7337375049676,
+            -127.39312105965953,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -537.7337375049676,
+            -130.39312105965953,
+            153.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -537.7337375049676,
+            -130.39312105965953,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -539.2337375049676,
+            -132.99119727101285,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -540.7337375049676,
+            -135.58927348236617,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -542.2337375049676,
+            -138.18734969371948,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -543.7337375049676,
+            -140.7854259050728,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -545.2337375049676,
+            -143.38350211642611,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -546.7337375049676,
+            -145.98157832777943,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -548.2337375049676,
+            -148.57965453913275,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -549.7337375049676,
+            -151.17773075048606,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -551.2337375049676,
+            -153.77580696183938,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -552.7337375049676,
+            -156.3738831731927,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -554.2337375049676,
+            -158.971959384546,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -555.7337375049676,
+            -161.57003559589933,
+            153.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -555.7337375049676,
+            -161.57003559589933,
+            150.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -555.7337375049676,
+            -161.57003559589933,
+            150.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -555.7337375049676,
+            -161.57003559589933,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            -554.2337375049676,
+            -164.16811180725264,
+            150.28656177480838
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -552.0,
+            -188.0,
+            158.828
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_long/2025-01-19_06-28-37_929594/pose.jsonl b/Image/env_airsim_gz/astar_data/high_long/2025-01-19_06-28-37_929594/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9182cadeebc6d87088fd0cb924891eee21264bd2
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_long/2025-01-19_06-28-37_929594/pose.jsonl
@@ -0,0 +1,1523 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -98.08484517595542,
+            59.81464642530037,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -99.58484517595542,
+            57.21657021394705,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -101.08484517595542,
+            54.618494002593735,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -102.58484517595542,
+            52.02041779124042,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -104.08484517595542,
+            49.4223415798871,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -105.58484517595542,
+            46.82426536853379,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -107.08484517595542,
+            44.22618915718047,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -108.58484517595542,
+            41.628112945827155,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -110.08484517595542,
+            39.03003673447384,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -111.58484517595542,
+            36.43196052312052,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -113.08484517595542,
+            33.83388431176721,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -114.58484517595542,
+            31.23580810041389,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -116.08484517595542,
+            28.637731889060575,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -117.58484517595542,
+            26.03965567770726,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -119.08484517595542,
+            23.441579466353943,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -120.58484517595542,
+            20.843503255000627,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -122.08484517595542,
+            18.24542704364731,
+            150.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -122.08484517595542,
+            18.24542704364731,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -124.68292138730874,
+            16.74542704364731,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -127.28099759866205,
+            15.245427043647311,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -129.87907381001537,
+            13.745427043647311,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -132.4771500213687,
+            12.245427043647311,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -135.075226232722,
+            10.745427043647311,
+            150.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -135.075226232722,
+            10.745427043647311,
+            153.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -135.075226232722,
+            10.745427043647311,
+            156.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -135.075226232722,
+            10.745427043647311,
+            159.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -135.075226232722,
+            10.745427043647311,
+            162.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -135.075226232722,
+            10.745427043647311,
+            165.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -135.075226232722,
+            10.745427043647311,
+            168.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -135.075226232722,
+            10.745427043647311,
+            171.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -135.075226232722,
+            10.745427043647311,
+            174.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -135.075226232722,
+            10.745427043647311,
+            177.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -135.075226232722,
+            10.745427043647311,
+            180.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -135.075226232722,
+            10.745427043647311,
+            183.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -135.075226232722,
+            10.745427043647311,
+            186.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -135.075226232722,
+            10.745427043647311,
+            186.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -138.075226232722,
+            10.745427043647311,
+            186.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -141.075226232722,
+            10.745427043647311,
+            186.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -141.075226232722,
+            10.745427043647311,
+            189.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -141.075226232722,
+            10.745427043647311,
+            192.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -141.075226232722,
+            10.745427043647311,
+            195.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -141.075226232722,
+            10.745427043647311,
+            198.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -141.075226232722,
+            10.745427043647311,
+            201.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -141.075226232722,
+            10.745427043647311,
+            204.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -141.075226232722,
+            10.745427043647311,
+            207.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -141.075226232722,
+            10.745427043647311,
+            210.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -141.075226232722,
+            10.745427043647311,
+            213.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -141.075226232722,
+            10.745427043647311,
+            216.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -141.075226232722,
+            10.745427043647311,
+            219.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -141.075226232722,
+            10.745427043647311,
+            222.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -141.075226232722,
+            10.745427043647311,
+            225.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -141.075226232722,
+            10.745427043647311,
+            228.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -141.075226232722,
+            10.745427043647311,
+            231.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -141.075226232722,
+            10.745427043647311,
+            231.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -141.075226232722,
+            10.745427043647311,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 4.1887902047863905
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -142.575226232722,
+            8.147350832293995,
+            231.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -142.575226232722,
+            8.147350832293995,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -142.575226232722,
+            5.147350832293995,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            -142.575226232722,
+            2.147350832293995,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            -142.575226232722,
+            -0.8526491677060051,
+            231.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            -142.575226232722,
+            -0.8526491677060051,
+            231.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            -142.575226232722,
+            -0.8526491677060051,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982989
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            -139.9771500213687,
+            -2.352649167706005,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            -137.37907381001537,
+            -3.852649167706005,
+            231.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            -137.37907381001537,
+            -3.852649167706005,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            -135.87907381001537,
+            -6.450725379059321,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            -134.37907381001537,
+            -9.048801590412637,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            -132.87907381001537,
+            -11.646877801765953,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            -131.37907381001537,
+            -14.24495401311927,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            -129.87907381001537,
+            -16.843030224472585,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            -128.37907381001537,
+            -19.4411064358259,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            -126.87907381001537,
+            -22.039182647179217,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            -125.37907381001537,
+            -24.637258858532533,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            -123.87907381001537,
+            -27.23533506988585,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            -122.37907381001537,
+            -29.833411281239165,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            -120.87907381001537,
+            -32.43148749259248,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            -119.37907381001537,
+            -35.0295637039458,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            -117.87907381001537,
+            -37.62763991529911,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            -116.37907381001537,
+            -40.22571612665243,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            -114.87907381001537,
+            -42.823792338005745,
+            231.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            -114.87907381001537,
+            -42.823792338005745,
+            228.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 81,
+        "pos": [
+            -114.87907381001537,
+            -42.823792338005745,
+            225.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 82,
+        "pos": [
+            -114.87907381001537,
+            -42.823792338005745,
+            222.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 83,
+        "pos": [
+            -114.87907381001537,
+            -42.823792338005745,
+            219.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 84,
+        "pos": [
+            -114.87907381001537,
+            -42.823792338005745,
+            216.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 85,
+        "pos": [
+            -114.87907381001537,
+            -42.823792338005745,
+            213.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 86,
+        "pos": [
+            -114.87907381001537,
+            -42.823792338005745,
+            210.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 87,
+        "pos": [
+            -114.87907381001537,
+            -42.823792338005745,
+            207.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 88,
+        "pos": [
+            -114.87907381001537,
+            -42.823792338005745,
+            204.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 89,
+        "pos": [
+            -114.87907381001537,
+            -42.823792338005745,
+            201.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 90,
+        "pos": [
+            -114.87907381001537,
+            -42.823792338005745,
+            198.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 91,
+        "pos": [
+            -114.87907381001537,
+            -42.823792338005745,
+            195.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 92,
+        "pos": [
+            -114.87907381001537,
+            -42.823792338005745,
+            192.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 93,
+        "pos": [
+            -114.87907381001537,
+            -42.823792338005745,
+            189.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 94,
+        "pos": [
+            -114.87907381001537,
+            -42.823792338005745,
+            186.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 95,
+        "pos": [
+            -114.87907381001537,
+            -42.823792338005745,
+            183.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 96,
+        "pos": [
+            -114.87907381001537,
+            -42.823792338005745,
+            180.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 97,
+        "pos": [
+            -114.87907381001537,
+            -42.823792338005745,
+            177.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 98,
+        "pos": [
+            -114.87907381001537,
+            -42.823792338005745,
+            174.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 99,
+        "pos": [
+            -114.87907381001537,
+            -42.823792338005745,
+            171.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 100,
+        "pos": [
+            -113.37907381001537,
+            -45.42186854935906,
+            171.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 101,
+        "pos": [
+            -111.87907381001537,
+            -48.01994476071238,
+            171.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 102,
+        "pos": [
+            -110.37907381001537,
+            -50.61802097206569,
+            171.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 103,
+        "pos": [
+            -108.87907381001537,
+            -53.21609718341901,
+            171.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 104,
+        "pos": [
+            -107.37907381001537,
+            -55.814173394772325,
+            171.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 105,
+        "pos": [
+            -105.87907381001537,
+            -58.41224960612564,
+            171.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 106,
+        "pos": [
+            -105.87907381001537,
+            -58.41224960612564,
+            168.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 107,
+        "pos": [
+            -105.87907381001537,
+            -58.41224960612564,
+            165.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 108,
+        "pos": [
+            -105.87907381001537,
+            -58.41224960612564,
+            162.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 109,
+        "pos": [
+            -105.87907381001537,
+            -58.41224960612564,
+            159.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 110,
+        "pos": [
+            -105.87907381001537,
+            -58.41224960612564,
+            156.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 111,
+        "pos": [
+            -105.87907381001537,
+            -58.41224960612564,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 112,
+        "pos": [
+            -104.37907381001537,
+            -61.01032581747896,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 113,
+        "pos": [
+            -102.87907381001537,
+            -63.60840202883227,
+            153.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 114,
+        "pos": [
+            -102.87907381001537,
+            -63.60840202883227,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 115,
+        "pos": [
+            -102.87907381001537,
+            -66.60840202883227,
+            153.28656177480838
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -104.0,
+            -96.0,
+            248.592
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_long/2025-01-19_06-57-36_925962/pose.jsonl b/Image/env_airsim_gz/astar_data/high_long/2025-01-19_06-57-36_925962/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..db2380c91cdd2917b661fafcbb3488285d6a2fd2
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_long/2025-01-19_06-57-36_925962/pose.jsonl
@@ -0,0 +1,743 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            4.055824182234375,
+            564.2541436552328,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            4.055824182234375,
+            561.2541436552328,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            4.055824182234375,
+            558.2541436552328,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            4.055824182234375,
+            555.2541436552328,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            4.055824182234375,
+            552.2541436552328,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            4.055824182234375,
+            549.2541436552328,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            4.055824182234375,
+            546.2541436552328,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            4.055824182234375,
+            543.2541436552328,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            4.055824182234375,
+            540.2541436552328,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            4.055824182234375,
+            537.2541436552328,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            4.055824182234375,
+            534.2541436552328,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            4.055824182234375,
+            531.2541436552328,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            4.055824182234375,
+            528.2541436552328,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            4.055824182234375,
+            525.2541436552328,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            4.055824182234375,
+            522.2541436552328,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            4.055824182234375,
+            519.2541436552328,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            4.055824182234375,
+            516.2541436552328,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            4.055824182234375,
+            513.2541436552328,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            4.055824182234375,
+            510.25414365523284,
+            150.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            4.055824182234375,
+            510.25414365523284,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            5.555824182234375,
+            507.6560674438795,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            7.055824182234375,
+            505.0579912325262,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            8.555824182234375,
+            502.4599150211729,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            10.055824182234375,
+            499.8618388098196,
+            150.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            10.055824182234375,
+            499.8618388098196,
+            153.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            10.055824182234375,
+            499.8618388098196,
+            156.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            10.055824182234375,
+            499.8618388098196,
+            159.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            11.555824182234375,
+            497.26376259846626,
+            159.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            13.055824182234375,
+            494.66568638711294,
+            159.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            14.555824182234375,
+            492.0676101757596,
+            159.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            16.055824182234375,
+            489.4695339644063,
+            159.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            17.555824182234375,
+            486.871457753053,
+            159.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            19.055824182234375,
+            484.2733815416997,
+            159.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            20.555824182234375,
+            481.67530533034636,
+            159.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            22.055824182234375,
+            479.07722911899305,
+            159.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            23.555824182234375,
+            476.47915290763973,
+            159.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            25.055824182234375,
+            473.8810766962864,
+            159.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            26.555824182234375,
+            471.2830004849331,
+            159.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            28.055824182234375,
+            468.6849242735798,
+            159.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            29.555824182234375,
+            466.08684806222647,
+            159.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            31.055824182234375,
+            463.48877185087315,
+            159.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            31.055824182234375,
+            463.48877185087315,
+            159.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            31.055824182234375,
+            460.48877185087315,
+            159.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            31.055824182234375,
+            457.48877185087315,
+            159.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            31.055824182234375,
+            454.48877185087315,
+            159.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            31.055824182234375,
+            451.48877185087315,
+            159.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            31.055824182234375,
+            448.48877185087315,
+            159.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            31.055824182234375,
+            445.48877185087315,
+            159.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            31.055824182234375,
+            442.48877185087315,
+            159.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            31.055824182234375,
+            439.48877185087315,
+            159.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            31.055824182234375,
+            436.48877185087315,
+            159.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            31.055824182234375,
+            433.48877185087315,
+            159.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            31.055824182234375,
+            430.48877185087315,
+            159.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            31.055824182234375,
+            430.48877185087315,
+            156.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            31.055824182234375,
+            430.48877185087315,
+            153.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            31.055824182234375,
+            430.48877185087315,
+            150.28656177480838
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            36.0,
+            408.0,
+            143.294
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_long/2025-01-19_07-10-31_142949/pose.jsonl b/Image/env_airsim_gz/astar_data/high_long/2025-01-19_07-10-31_142949/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..52bad28eebee6ed2ea37a3f3dbc25b80b657409a
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_long/2025-01-19_07-10-31_142949/pose.jsonl
@@ -0,0 +1,1224 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -214.33743764533193,
+            17.486115107473935,
+            150.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -214.33743764533193,
+            17.486115107473935,
+            153.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -214.33743764533193,
+            17.486115107473935,
+            156.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -214.33743764533193,
+            17.486115107473935,
+            159.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -214.33743764533193,
+            17.486115107473935,
+            162.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -214.33743764533193,
+            17.486115107473935,
+            165.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -214.33743764533193,
+            17.486115107473935,
+            168.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -214.33743764533193,
+            17.486115107473935,
+            171.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -214.33743764533193,
+            17.486115107473935,
+            174.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -214.33743764533193,
+            17.486115107473935,
+            177.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -214.33743764533193,
+            17.486115107473935,
+            180.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -214.33743764533193,
+            17.486115107473935,
+            183.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -214.33743764533193,
+            17.486115107473935,
+            186.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -214.33743764533193,
+            17.486115107473935,
+            186.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -214.33743764533193,
+            17.486115107473935,
+            186.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -214.33743764533193,
+            17.486115107473935,
+            186.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -214.33743764533193,
+            17.486115107473935,
+            186.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -214.33743764533193,
+            17.486115107473935,
+            186.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -216.93551385668525,
+            15.986115107473935,
+            186.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -219.53359006803856,
+            14.486115107473935,
+            186.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -219.53359006803856,
+            14.486115107473935,
+            189.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -219.53359006803856,
+            14.486115107473935,
+            192.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -219.53359006803856,
+            14.486115107473935,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -222.53359006803856,
+            14.486115107473935,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -225.53359006803856,
+            14.486115107473935,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -228.53359006803856,
+            14.486115107473935,
+            192.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -228.53359006803856,
+            14.486115107473935,
+            192.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -228.53359006803856,
+            14.486115107473935,
+            192.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 4.1887902047863905
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -228.53359006803856,
+            14.486115107473935,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 4.71238898038469
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -228.53359006803856,
+            11.486115107473935,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -228.53359006803856,
+            8.486115107473935,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -228.53359006803856,
+            5.486115107473935,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -228.53359006803856,
+            2.4861151074739354,
+            192.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -228.53359006803856,
+            2.4861151074739354,
+            192.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -228.53359006803856,
+            2.4861151074739354,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982989
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -225.93551385668525,
+            0.9861151074739356,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -223.33743764533193,
+            -0.5138848925260642,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -220.73936143397862,
+            -2.0138848925260637,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982987
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -218.1412852226253,
+            -3.5138848925260637,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -215.54320901127198,
+            -5.013884892526064,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -212.94513279991867,
+            -6.513884892526064,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -210.34705658856535,
+            -8.013884892526063,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982986
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -207.74898037721204,
+            -9.513884892526063,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -205.15090416585872,
+            -11.013884892526063,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -202.5528279545054,
+            -12.513884892526063,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -199.9547517431521,
+            -14.013884892526063,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -197.35667553179877,
+            -15.513884892526063,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -194.75859932044546,
+            -17.01388489252606,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982984
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -192.16052310909214,
+            -18.51388489252606,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -189.56244689773882,
+            -20.01388489252606,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -186.9643706863855,
+            -21.51388489252606,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -184.3662944750322,
+            -23.01388489252606,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -181.76821826367888,
+            -24.51388489252606,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -179.17014205232556,
+            -26.01388489252606,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -176.57206584097224,
+            -27.51388489252606,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -173.97398962961893,
+            -29.01388489252606,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -171.3759134182656,
+            -30.51388489252606,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -168.7778372069123,
+            -32.01388489252606,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982978
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            -166.17976099555898,
+            -33.51388489252606,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            -163.58168478420566,
+            -35.01388489252606,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            -160.98360857285235,
+            -36.51388489252606,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            -158.38553236149903,
+            -38.01388489252606,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            -155.78745615014572,
+            -39.51388489252606,
+            192.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            -155.78745615014572,
+            -39.51388489252606,
+            189.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            -155.78745615014572,
+            -39.51388489252606,
+            186.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            -155.78745615014572,
+            -39.51388489252606,
+            186.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            -154.28745615014572,
+            -42.11196110387937,
+            186.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            -152.78745615014572,
+            -44.71003731523269,
+            186.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            -151.28745615014572,
+            -47.308113526586006,
+            186.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            -149.78745615014572,
+            -49.90618973793932,
+            186.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            -148.28745615014572,
+            -52.50426594929264,
+            186.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            -146.78745615014572,
+            -55.102342160645954,
+            186.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            -145.28745615014572,
+            -57.70041837199927,
+            186.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            -143.78745615014572,
+            -60.298494583352586,
+            186.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            -142.28745615014572,
+            -62.8965707947059,
+            186.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            -140.78745615014572,
+            -65.49464700605921,
+            186.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            -140.78745615014572,
+            -65.49464700605921,
+            183.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            -140.78745615014572,
+            -65.49464700605921,
+            180.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            -140.78745615014572,
+            -65.49464700605921,
+            177.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            -140.78745615014572,
+            -65.49464700605921,
+            174.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            -140.78745615014572,
+            -65.49464700605921,
+            171.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 81,
+        "pos": [
+            -140.78745615014572,
+            -65.49464700605921,
+            168.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 82,
+        "pos": [
+            -140.78745615014572,
+            -65.49464700605921,
+            165.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 83,
+        "pos": [
+            -140.78745615014572,
+            -65.49464700605921,
+            162.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 84,
+        "pos": [
+            -140.78745615014572,
+            -65.49464700605921,
+            159.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 85,
+        "pos": [
+            -140.78745615014572,
+            -65.49464700605921,
+            159.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 86,
+        "pos": [
+            -138.1893799387924,
+            -66.99464700605921,
+            159.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 87,
+        "pos": [
+            -135.59130372743908,
+            -68.49464700605921,
+            159.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 88,
+        "pos": [
+            -132.99322751608577,
+            -69.99464700605921,
+            159.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 89,
+        "pos": [
+            -130.39515130473245,
+            -71.49464700605921,
+            159.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 90,
+        "pos": [
+            -130.39515130473245,
+            -71.49464700605921,
+            156.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 91,
+        "pos": [
+            -130.39515130473245,
+            -71.49464700605921,
+            153.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 92,
+        "pos": [
+            -130.39515130473245,
+            -71.49464700605921,
+            150.28656177480838
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -104.0,
+            -96.0,
+            248.592
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_long/2025-01-19_07-17-34_98141/pose.jsonl b/Image/env_airsim_gz/astar_data/high_long/2025-01-19_07-17-34_98141/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6924b9da050aee99e3ca082963232bf549fa1aef
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_long/2025-01-19_07-17-34_98141/pose.jsonl
@@ -0,0 +1,535 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -715.3963154367626,
+            -181.0820419948422,
+            150.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -715.3963154367626,
+            -181.0820419948422,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -712.3963154367626,
+            -181.0820419948422,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -709.3963154367626,
+            -181.0820419948422,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -706.3963154367626,
+            -181.0820419948422,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -703.3963154367626,
+            -181.0820419948422,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -700.3963154367626,
+            -181.0820419948422,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -697.3963154367626,
+            -181.0820419948422,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -694.3963154367626,
+            -181.0820419948422,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -691.3963154367626,
+            -181.0820419948422,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -688.3963154367626,
+            -181.0820419948422,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -685.3963154367626,
+            -181.0820419948422,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -682.3963154367626,
+            -181.0820419948422,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -679.3963154367626,
+            -181.0820419948422,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -676.3963154367626,
+            -181.0820419948422,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -673.3963154367626,
+            -181.0820419948422,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -670.3963154367626,
+            -181.0820419948422,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -667.3963154367626,
+            -181.0820419948422,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -664.3963154367626,
+            -181.0820419948422,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -661.3963154367626,
+            -181.0820419948422,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -658.3963154367626,
+            -181.0820419948422,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -655.3963154367626,
+            -181.0820419948422,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -652.3963154367626,
+            -181.0820419948422,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -649.3963154367626,
+            -181.0820419948422,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -646.3963154367626,
+            -181.0820419948422,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -643.3963154367626,
+            -181.0820419948422,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -640.3963154367626,
+            -181.0820419948422,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -637.3963154367626,
+            -181.0820419948422,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -634.3963154367626,
+            -181.0820419948422,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -631.3963154367626,
+            -181.0820419948422,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -628.3963154367626,
+            -181.0820419948422,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -625.3963154367626,
+            -181.0820419948422,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -622.3963154367626,
+            -181.0820419948422,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -619.3963154367626,
+            -181.0820419948422,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -616.3963154367626,
+            -181.0820419948422,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -613.3963154367626,
+            -181.0820419948422,
+            153.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -613.3963154367626,
+            -181.0820419948422,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -610.7982392254094,
+            -182.5820419948422,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -608.200163014056,
+            -184.0820419948422,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -605.6020868027026,
+            -185.5820419948422,
+            153.28656177480838
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -552.0,
+            -188.0,
+            158.828
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_long/2025-01-19_08-23-32_805006/pose.jsonl b/Image/env_airsim_gz/astar_data/high_long/2025-01-19_08-23-32_805006/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..253643fc6735c0f75721e5b3b4b27605722e780a
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_long/2025-01-19_08-23-32_805006/pose.jsonl
@@ -0,0 +1,1549 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -116.11982113603003,
+            46.33248868359219,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -117.61982113603003,
+            43.73441247223887,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -119.11982113603003,
+            41.13633626088556,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -120.61982113603003,
+            38.53826004953224,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -122.11982113603003,
+            35.940183838178925,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -123.61982113603003,
+            33.34210762682561,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -125.11982113603003,
+            30.744031415472293,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -126.61982113603003,
+            28.145955204118977,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -128.11982113603003,
+            25.54787899276566,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -129.61982113603003,
+            22.949802781412345,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -131.11982113603003,
+            20.35172657005903,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -132.61982113603003,
+            17.753650358705713,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -134.11982113603003,
+            15.155574147352397,
+            150.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -134.11982113603003,
+            15.155574147352397,
+            153.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -134.11982113603003,
+            15.155574147352397,
+            156.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -134.11982113603003,
+            15.155574147352397,
+            159.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -134.11982113603003,
+            15.155574147352397,
+            162.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -134.11982113603003,
+            15.155574147352397,
+            165.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -134.11982113603003,
+            15.155574147352397,
+            168.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -134.11982113603003,
+            15.155574147352397,
+            171.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -134.11982113603003,
+            15.155574147352397,
+            174.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -134.11982113603003,
+            15.155574147352397,
+            177.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -134.11982113603003,
+            15.155574147352397,
+            180.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -134.11982113603003,
+            15.155574147352397,
+            183.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -134.11982113603003,
+            15.155574147352397,
+            186.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -134.11982113603003,
+            15.155574147352397,
+            189.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -134.11982113603003,
+            15.155574147352397,
+            192.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -134.11982113603003,
+            15.155574147352397,
+            195.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -134.11982113603003,
+            15.155574147352397,
+            198.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -134.11982113603003,
+            15.155574147352397,
+            201.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -134.11982113603003,
+            15.155574147352397,
+            204.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -134.11982113603003,
+            15.155574147352397,
+            207.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -134.11982113603003,
+            15.155574147352397,
+            210.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -134.11982113603003,
+            15.155574147352397,
+            213.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -134.11982113603003,
+            15.155574147352397,
+            216.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -134.11982113603003,
+            15.155574147352397,
+            219.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -134.11982113603003,
+            15.155574147352397,
+            222.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -134.11982113603003,
+            15.155574147352397,
+            225.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -134.11982113603003,
+            15.155574147352397,
+            228.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -134.11982113603003,
+            15.155574147352397,
+            231.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -134.11982113603003,
+            15.155574147352397,
+            231.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -134.11982113603003,
+            15.155574147352397,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -137.11982113603003,
+            15.155574147352397,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -140.11982113603003,
+            15.155574147352397,
+            231.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -140.11982113603003,
+            15.155574147352397,
+            231.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -140.11982113603003,
+            15.155574147352397,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 4.1887902047863905
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -141.61982113603003,
+            12.55749793599908,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -143.11982113603003,
+            9.959421724645765,
+            231.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -143.11982113603003,
+            9.959421724645765,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -143.11982113603003,
+            6.959421724645765,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -143.11982113603003,
+            3.9594217246457646,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -143.11982113603003,
+            0.9594217246457646,
+            231.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -143.11982113603003,
+            0.9594217246457646,
+            231.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -143.11982113603003,
+            0.9594217246457646,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982989
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -140.5217449246767,
+            -0.5405782753542352,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -137.9236687133234,
+            -2.040578275354235,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -135.32559250197008,
+            -3.5405782753542345,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982987
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -132.72751629061676,
+            -5.0405782753542345,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            -130.12944007926345,
+            -6.5405782753542345,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            -127.53136386791013,
+            -8.040578275354234,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982986
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            -124.93328765655681,
+            -9.540578275354234,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            -122.3352114452035,
+            -11.040578275354234,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            -119.73713523385018,
+            -12.540578275354234,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            -117.13905902249687,
+            -14.040578275354234,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            -114.54098281114355,
+            -15.540578275354234,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            -111.94290659979023,
+            -17.040578275354232,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982984
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            -109.34483038843692,
+            -18.540578275354232,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            -106.7467541770836,
+            -20.040578275354232,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            -104.14867796573029,
+            -21.540578275354232,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            -101.55060175437697,
+            -23.040578275354232,
+            231.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            -101.55060175437697,
+            -23.040578275354232,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            -98.55060175437697,
+            -23.040578275354232,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            -95.55060175437697,
+            -23.040578275354232,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            -92.55060175437697,
+            -23.040578275354232,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            -89.55060175437697,
+            -23.040578275354232,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            -86.55060175437697,
+            -23.040578275354232,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            -83.55060175437697,
+            -23.040578275354232,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            -80.55060175437697,
+            -23.040578275354232,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            -77.55060175437697,
+            -23.040578275354232,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            -74.55060175437697,
+            -23.040578275354232,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            -71.55060175437697,
+            -23.040578275354232,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 81,
+        "pos": [
+            -68.55060175437697,
+            -23.040578275354232,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 82,
+        "pos": [
+            -65.55060175437697,
+            -23.040578275354232,
+            231.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 83,
+        "pos": [
+            -65.55060175437697,
+            -23.040578275354232,
+            228.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 84,
+        "pos": [
+            -65.55060175437697,
+            -23.040578275354232,
+            225.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 85,
+        "pos": [
+            -65.55060175437697,
+            -23.040578275354232,
+            222.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 86,
+        "pos": [
+            -65.55060175437697,
+            -23.040578275354232,
+            219.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 87,
+        "pos": [
+            -65.55060175437697,
+            -23.040578275354232,
+            216.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 88,
+        "pos": [
+            -65.55060175437697,
+            -23.040578275354232,
+            213.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 89,
+        "pos": [
+            -65.55060175437697,
+            -23.040578275354232,
+            210.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 90,
+        "pos": [
+            -65.55060175437697,
+            -23.040578275354232,
+            207.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 91,
+        "pos": [
+            -65.55060175437697,
+            -23.040578275354232,
+            204.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 92,
+        "pos": [
+            -65.55060175437697,
+            -23.040578275354232,
+            201.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 93,
+        "pos": [
+            -65.55060175437697,
+            -23.040578275354232,
+            198.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 94,
+        "pos": [
+            -65.55060175437697,
+            -23.040578275354232,
+            195.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 95,
+        "pos": [
+            -65.55060175437697,
+            -23.040578275354232,
+            192.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 96,
+        "pos": [
+            -65.55060175437697,
+            -23.040578275354232,
+            189.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 97,
+        "pos": [
+            -65.55060175437697,
+            -23.040578275354232,
+            186.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 98,
+        "pos": [
+            -65.55060175437697,
+            -23.040578275354232,
+            183.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 99,
+        "pos": [
+            -65.55060175437697,
+            -23.040578275354232,
+            180.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 100,
+        "pos": [
+            -65.55060175437697,
+            -23.040578275354232,
+            177.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 101,
+        "pos": [
+            -65.55060175437697,
+            -23.040578275354232,
+            174.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 102,
+        "pos": [
+            -65.55060175437697,
+            -23.040578275354232,
+            171.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 103,
+        "pos": [
+            -62.55060175437697,
+            -23.040578275354232,
+            171.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 104,
+        "pos": [
+            -59.55060175437697,
+            -23.040578275354232,
+            171.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 105,
+        "pos": [
+            -56.55060175437697,
+            -23.040578275354232,
+            171.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 106,
+        "pos": [
+            -53.55060175437697,
+            -23.040578275354232,
+            171.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 107,
+        "pos": [
+            -50.55060175437697,
+            -23.040578275354232,
+            171.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 108,
+        "pos": [
+            -47.55060175437697,
+            -23.040578275354232,
+            171.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 109,
+        "pos": [
+            -47.55060175437697,
+            -23.040578275354232,
+            168.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 110,
+        "pos": [
+            -47.55060175437697,
+            -23.040578275354232,
+            165.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 111,
+        "pos": [
+            -47.55060175437697,
+            -23.040578275354232,
+            162.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 112,
+        "pos": [
+            -47.55060175437697,
+            -23.040578275354232,
+            159.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 113,
+        "pos": [
+            -47.55060175437697,
+            -23.040578275354232,
+            156.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 114,
+        "pos": [
+            -47.55060175437697,
+            -23.040578275354232,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 115,
+        "pos": [
+            -44.55060175437697,
+            -23.040578275354232,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 116,
+        "pos": [
+            -41.55060175437697,
+            -23.040578275354232,
+            153.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 117,
+        "pos": [
+            -41.55060175437697,
+            -23.040578275354232,
+            150.28656177480838
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            8.0,
+            -68.0,
+            154.054
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_long/2025-01-19_09-27-36_428183/pose.jsonl b/Image/env_airsim_gz/astar_data/high_long/2025-01-19_09-27-36_428183/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b76556fa41916d6e705b3b4c193b2a8c4bf4efed
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_long/2025-01-19_09-27-36_428183/pose.jsonl
@@ -0,0 +1,873 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -772.2123790098999,
+            -193.3506366305572,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -769.2123790098999,
+            -193.3506366305572,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -766.2123790098999,
+            -193.3506366305572,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -763.2123790098999,
+            -193.3506366305572,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -760.2123790098999,
+            -193.3506366305572,
+            150.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -760.2123790098999,
+            -193.3506366305572,
+            153.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -760.2123790098999,
+            -193.3506366305572,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -757.6143027985465,
+            -194.8506366305572,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -755.0162265871932,
+            -196.3506366305572,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -752.4181503758398,
+            -197.8506366305572,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -749.8200741644864,
+            -199.3506366305572,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -747.221997953133,
+            -200.8506366305572,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -744.6239217417797,
+            -202.3506366305572,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -742.0258455304263,
+            -203.8506366305572,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -739.4277693190729,
+            -205.3506366305572,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -736.8296931077195,
+            -206.8506366305572,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -734.2316168963662,
+            -208.3506366305572,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -731.6335406850128,
+            -209.8506366305572,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -729.0354644736594,
+            -211.3506366305572,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -726.4373882623061,
+            -212.8506366305572,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -723.8393120509527,
+            -214.3506366305572,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -721.2412358395993,
+            -215.8506366305572,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -718.6431596282459,
+            -217.3506366305572,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -716.0450834168926,
+            -218.8506366305572,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -713.4470072055392,
+            -220.3506366305572,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -710.8489309941858,
+            -221.8506366305572,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -708.2508547828324,
+            -223.3506366305572,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -705.6527785714791,
+            -224.8506366305572,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -703.0547023601257,
+            -226.3506366305572,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -700.4566261487723,
+            -227.8506366305572,
+            153.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -700.4566261487723,
+            -227.8506366305572,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -698.9566261487723,
+            -230.44871284191052,
+            153.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -698.9566261487723,
+            -230.44871284191052,
+            153.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -698.9566261487723,
+            -230.44871284191052,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.220446049250313e-16
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -695.9566261487723,
+            -230.44871284191052,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -692.9566261487723,
+            -230.44871284191052,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -689.9566261487723,
+            -230.44871284191052,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -686.9566261487723,
+            -230.44871284191052,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -683.9566261487723,
+            -230.44871284191052,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -680.9566261487723,
+            -230.44871284191052,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -677.9566261487723,
+            -230.44871284191052,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -674.9566261487723,
+            -230.44871284191052,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -671.9566261487723,
+            -230.44871284191052,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -668.9566261487723,
+            -230.44871284191052,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -665.9566261487723,
+            -230.44871284191052,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -662.9566261487723,
+            -230.44871284191052,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -659.9566261487723,
+            -230.44871284191052,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -656.9566261487723,
+            -230.44871284191052,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -653.9566261487723,
+            -230.44871284191052,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -650.9566261487723,
+            -230.44871284191052,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -647.9566261487723,
+            -230.44871284191052,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -644.9566261487723,
+            -230.44871284191052,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -641.9566261487723,
+            -230.44871284191052,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -638.9566261487723,
+            -230.44871284191052,
+            153.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -638.9566261487723,
+            -230.44871284191052,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -636.358549937419,
+            -228.94871284191052,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -633.7604737260656,
+            -227.44871284191052,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -631.1623975147122,
+            -225.94871284191052,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            -628.5643213033588,
+            -224.44871284191052,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            -625.9662450920055,
+            -222.94871284191052,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            -623.3681688806521,
+            -221.44871284191052,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            -620.7700926692987,
+            -219.94871284191052,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            -618.1720164579453,
+            -218.44871284191052,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            -615.573940246592,
+            -216.94871284191052,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            -612.9758640352386,
+            -215.44871284191052,
+            153.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            -612.9758640352386,
+            -215.44871284191052,
+            150.28656177480838
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -604.0,
+            -216.0,
+            139.826
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_long/2025-01-19_10-27-37_683303/pose.jsonl b/Image/env_airsim_gz/astar_data/high_long/2025-01-19_10-27-37_683303/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9996532ac769278d5fbd9792df0c60cc4b2ad5c4
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_long/2025-01-19_10-27-37_683303/pose.jsonl
@@ -0,0 +1,1471 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -93.69783191083954,
+            58.32107951752937,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -95.19783191083954,
+            55.723003306176054,
+            150.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -95.19783191083954,
+            55.723003306176054,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -97.79590812219286,
+            54.223003306176054,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -100.39398433354617,
+            52.723003306176054,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -102.99206054489949,
+            51.223003306176054,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -105.5901367562528,
+            49.723003306176054,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -108.18821296760612,
+            48.223003306176054,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -110.78628917895944,
+            46.723003306176054,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -113.38436539031275,
+            45.223003306176054,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -115.98244160166607,
+            43.723003306176054,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -118.58051781301938,
+            42.223003306176054,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -121.1785940243727,
+            40.723003306176054,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -123.77667023572602,
+            39.223003306176054,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -126.37474644707933,
+            37.723003306176054,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -128.97282265843265,
+            36.223003306176054,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -131.57089886978596,
+            34.723003306176054,
+            150.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -131.57089886978596,
+            34.723003306176054,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -133.07089886978596,
+            32.12492709482274,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -134.57089886978596,
+            29.52685088346942,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -136.07089886978596,
+            26.928774672116106,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -137.57089886978596,
+            24.33069846076279,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -139.07089886978596,
+            21.732622249409474,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -140.57089886978596,
+            19.134546038056158,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -142.07089886978596,
+            16.53646982670284,
+            150.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -142.07089886978596,
+            16.53646982670284,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -142.07089886978596,
+            13.536469826702842,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -142.07089886978596,
+            10.536469826702842,
+            150.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -142.07089886978596,
+            10.536469826702842,
+            153.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -142.07089886978596,
+            10.536469826702842,
+            156.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -142.07089886978596,
+            10.536469826702842,
+            159.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -142.07089886978596,
+            10.536469826702842,
+            162.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -142.07089886978596,
+            10.536469826702842,
+            165.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -142.07089886978596,
+            10.536469826702842,
+            168.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -142.07089886978596,
+            10.536469826702842,
+            171.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -142.07089886978596,
+            10.536469826702842,
+            174.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -142.07089886978596,
+            10.536469826702842,
+            177.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -142.07089886978596,
+            10.536469826702842,
+            180.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -142.07089886978596,
+            10.536469826702842,
+            183.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -142.07089886978596,
+            10.536469826702842,
+            186.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -142.07089886978596,
+            10.536469826702842,
+            189.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -142.07089886978596,
+            10.536469826702842,
+            192.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -142.07089886978596,
+            10.536469826702842,
+            195.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -142.07089886978596,
+            10.536469826702842,
+            198.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -142.07089886978596,
+            10.536469826702842,
+            201.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -142.07089886978596,
+            10.536469826702842,
+            204.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -142.07089886978596,
+            10.536469826702842,
+            207.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -142.07089886978596,
+            10.536469826702842,
+            210.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -142.07089886978596,
+            10.536469826702842,
+            213.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -142.07089886978596,
+            10.536469826702842,
+            216.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -142.07089886978596,
+            10.536469826702842,
+            219.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -142.07089886978596,
+            10.536469826702842,
+            222.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -142.07089886978596,
+            10.536469826702842,
+            225.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -142.07089886978596,
+            10.536469826702842,
+            228.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -142.07089886978596,
+            10.536469826702842,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -142.07089886978596,
+            7.536469826702842,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -142.07089886978596,
+            4.536469826702842,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -142.07089886978596,
+            1.5364698267028416,
+            231.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            -142.07089886978596,
+            1.5364698267028416,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            -140.57089886978596,
+            -1.0616063846504744,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            -139.07089886978596,
+            -3.6596825960037904,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            -137.57089886978596,
+            -6.257758807357106,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            -136.07089886978596,
+            -8.855835018710422,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            -134.57089886978596,
+            -11.453911230063738,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            -133.07089886978596,
+            -14.051987441417054,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            -131.57089886978596,
+            -16.65006365277037,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            -130.07089886978596,
+            -19.248139864123686,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            -128.57089886978596,
+            -21.846216075477003,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            -127.07089886978596,
+            -24.44429228683032,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            -125.57089886978596,
+            -27.042368498183635,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            -124.07089886978596,
+            -29.64044470953695,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            -122.57089886978596,
+            -32.23852092089027,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            -121.07089886978596,
+            -34.83659713224358,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            -119.57089886978596,
+            -37.4346733435969,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            -118.07089886978596,
+            -40.032749554950215,
+            231.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            -116.57089886978596,
+            -42.63082576630353,
+            231.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            -116.57089886978596,
+            -42.63082576630353,
+            228.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            -116.57089886978596,
+            -42.63082576630353,
+            225.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            -116.57089886978596,
+            -42.63082576630353,
+            222.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            -116.57089886978596,
+            -42.63082576630353,
+            219.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            -116.57089886978596,
+            -42.63082576630353,
+            216.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 81,
+        "pos": [
+            -116.57089886978596,
+            -42.63082576630353,
+            213.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 82,
+        "pos": [
+            -116.57089886978596,
+            -42.63082576630353,
+            210.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 83,
+        "pos": [
+            -116.57089886978596,
+            -42.63082576630353,
+            207.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 84,
+        "pos": [
+            -116.57089886978596,
+            -42.63082576630353,
+            204.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 85,
+        "pos": [
+            -116.57089886978596,
+            -42.63082576630353,
+            201.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 86,
+        "pos": [
+            -116.57089886978596,
+            -42.63082576630353,
+            198.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 87,
+        "pos": [
+            -116.57089886978596,
+            -42.63082576630353,
+            195.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 88,
+        "pos": [
+            -116.57089886978596,
+            -42.63082576630353,
+            192.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 89,
+        "pos": [
+            -116.57089886978596,
+            -42.63082576630353,
+            189.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 90,
+        "pos": [
+            -116.57089886978596,
+            -42.63082576630353,
+            186.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 91,
+        "pos": [
+            -116.57089886978596,
+            -42.63082576630353,
+            183.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 92,
+        "pos": [
+            -116.57089886978596,
+            -42.63082576630353,
+            180.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 93,
+        "pos": [
+            -116.57089886978596,
+            -42.63082576630353,
+            177.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 94,
+        "pos": [
+            -116.57089886978596,
+            -42.63082576630353,
+            174.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 95,
+        "pos": [
+            -115.07089886978596,
+            -45.22890197765685,
+            174.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 96,
+        "pos": [
+            -113.57089886978596,
+            -47.82697818901016,
+            174.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 97,
+        "pos": [
+            -112.07089886978596,
+            -50.42505440036348,
+            174.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 98,
+        "pos": [
+            -110.57089886978596,
+            -53.023130611716795,
+            174.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 99,
+        "pos": [
+            -109.07089886978596,
+            -55.62120682307011,
+            174.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 100,
+        "pos": [
+            -107.57089886978596,
+            -58.21928303442343,
+            174.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 101,
+        "pos": [
+            -107.57089886978596,
+            -58.21928303442343,
+            171.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 102,
+        "pos": [
+            -107.57089886978596,
+            -58.21928303442343,
+            168.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 103,
+        "pos": [
+            -107.57089886978596,
+            -58.21928303442343,
+            165.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 104,
+        "pos": [
+            -107.57089886978596,
+            -58.21928303442343,
+            162.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 105,
+        "pos": [
+            -107.57089886978596,
+            -58.21928303442343,
+            159.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 106,
+        "pos": [
+            -107.57089886978596,
+            -58.21928303442343,
+            156.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 107,
+        "pos": [
+            -106.07089886978596,
+            -60.81735924577674,
+            156.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 108,
+        "pos": [
+            -104.57089886978596,
+            -63.41543545713006,
+            156.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 109,
+        "pos": [
+            -104.57089886978596,
+            -63.41543545713006,
+            153.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 110,
+        "pos": [
+            -104.57089886978596,
+            -63.41543545713006,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 111,
+        "pos": [
+            -103.07089886978596,
+            -66.01351166848337,
+            150.28656177480838
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -104.0,
+            -96.0,
+            248.592
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_long/2025-01-19_10-56-19_550950/pose.jsonl b/Image/env_airsim_gz/astar_data/high_long/2025-01-19_10-56-19_550950/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6ecd1dbc6f49c8f4eeea02e8cb5c0ddb6af6a35e
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_long/2025-01-19_10-56-19_550950/pose.jsonl
@@ -0,0 +1,691 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -580.8279344422931,
+            -142.00301877527482,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -583.4260106536465,
+            -143.50301877527482,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -586.0240868649998,
+            -145.00301877527482,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -588.6221630763532,
+            -146.50301877527482,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -591.2202392877066,
+            -148.00301877527482,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -593.81831549906,
+            -149.50301877527482,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -596.4163917104133,
+            -151.00301877527482,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -599.0144679217667,
+            -152.50301877527482,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -601.6125441331201,
+            -154.00301877527482,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -604.2106203444735,
+            -155.50301877527482,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -606.8086965558268,
+            -157.00301877527482,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -609.4067727671802,
+            -158.50301877527482,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -612.0048489785336,
+            -160.00301877527482,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -614.602925189887,
+            -161.50301877527482,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -617.2010014012403,
+            -163.00301877527482,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -619.7990776125937,
+            -164.50301877527482,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -622.3971538239471,
+            -166.00301877527482,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -624.9952300353004,
+            -167.50301877527482,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -627.5933062466538,
+            -169.00301877527482,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -630.1913824580072,
+            -170.50301877527482,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -632.7894586693606,
+            -172.00301877527482,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -635.3875348807139,
+            -173.50301877527482,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -637.9856110920673,
+            -175.00301877527482,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -640.5836873034207,
+            -176.50301877527482,
+            150.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -640.5836873034207,
+            -176.50301877527482,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -643.5836873034207,
+            -176.50301877527482,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -646.5836873034207,
+            -176.50301877527482,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -649.5836873034207,
+            -176.50301877527482,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -652.5836873034207,
+            -176.50301877527482,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -655.5836873034207,
+            -176.50301877527482,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -658.5836873034207,
+            -176.50301877527482,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -661.5836873034207,
+            -176.50301877527482,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -664.5836873034207,
+            -176.50301877527482,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -667.5836873034207,
+            -176.50301877527482,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -670.5836873034207,
+            -176.50301877527482,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -673.5836873034207,
+            -176.50301877527482,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -676.5836873034207,
+            -176.50301877527482,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -679.5836873034207,
+            -176.50301877527482,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -682.5836873034207,
+            -176.50301877527482,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -685.5836873034207,
+            -176.50301877527482,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -688.5836873034207,
+            -176.50301877527482,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -691.5836873034207,
+            -176.50301877527482,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -694.5836873034207,
+            -176.50301877527482,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -697.5836873034207,
+            -176.50301877527482,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -700.5836873034207,
+            -176.50301877527482,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -703.5836873034207,
+            -176.50301877527482,
+            150.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -703.5836873034207,
+            -176.50301877527482,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -706.5836873034207,
+            -176.50301877527482,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -709.5836873034207,
+            -176.50301877527482,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -712.5836873034207,
+            -176.50301877527482,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -715.5836873034207,
+            -176.50301877527482,
+            153.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -715.5836873034207,
+            -176.50301877527482,
+            150.28656177480838
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -744.0,
+            -184.0,
+            147.579
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_long/2025-01-19_11-08-49_557204/pose.jsonl b/Image/env_airsim_gz/astar_data/high_long/2025-01-19_11-08-49_557204/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d63908fe488069ee5380c92e4775624fa951a1bf
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_long/2025-01-19_11-08-49_557204/pose.jsonl
@@ -0,0 +1,717 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -578.7838596272345,
+            -149.86190325908458,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -580.2838596272345,
+            -152.4599794704379,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -581.7838596272345,
+            -155.05805568179122,
+            150.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -581.7838596272345,
+            -155.05805568179122,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -584.3819358385879,
+            -156.55805568179122,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -586.9800120499413,
+            -158.05805568179122,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -589.5780882612946,
+            -159.55805568179122,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -592.176164472648,
+            -161.05805568179122,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -594.7742406840014,
+            -162.55805568179122,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -597.3723168953547,
+            -164.05805568179122,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -599.9703931067081,
+            -165.55805568179122,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -602.5684693180615,
+            -167.05805568179122,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -605.1665455294149,
+            -168.55805568179122,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -607.7646217407682,
+            -170.05805568179122,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -610.3626979521216,
+            -171.55805568179122,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -612.960774163475,
+            -173.05805568179122,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -615.5588503748284,
+            -174.55805568179122,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -618.1569265861817,
+            -176.05805568179122,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -620.7550027975351,
+            -177.55805568179122,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -623.3530790088885,
+            -179.05805568179122,
+            150.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -623.3530790088885,
+            -179.05805568179122,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -626.3530790088885,
+            -179.05805568179122,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -629.3530790088885,
+            -179.05805568179122,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -632.3530790088885,
+            -179.05805568179122,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -635.3530790088885,
+            -179.05805568179122,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -638.3530790088885,
+            -179.05805568179122,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -641.3530790088885,
+            -179.05805568179122,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -644.3530790088885,
+            -179.05805568179122,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -647.3530790088885,
+            -179.05805568179122,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -650.3530790088885,
+            -179.05805568179122,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -653.3530790088885,
+            -179.05805568179122,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -656.3530790088885,
+            -179.05805568179122,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -659.3530790088885,
+            -179.05805568179122,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -662.3530790088885,
+            -179.05805568179122,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -665.3530790088885,
+            -179.05805568179122,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -668.3530790088885,
+            -179.05805568179122,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -671.3530790088885,
+            -179.05805568179122,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -674.3530790088885,
+            -179.05805568179122,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -677.3530790088885,
+            -179.05805568179122,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -680.3530790088885,
+            -179.05805568179122,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -683.3530790088885,
+            -179.05805568179122,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -686.3530790088885,
+            -179.05805568179122,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -689.3530790088885,
+            -179.05805568179122,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -692.3530790088885,
+            -179.05805568179122,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -695.3530790088885,
+            -179.05805568179122,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -698.3530790088885,
+            -179.05805568179122,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -701.3530790088885,
+            -179.05805568179122,
+            150.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -701.3530790088885,
+            -179.05805568179122,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -704.3530790088885,
+            -179.05805568179122,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -707.3530790088885,
+            -179.05805568179122,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -710.3530790088885,
+            -179.05805568179122,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -713.3530790088885,
+            -179.05805568179122,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -716.3530790088885,
+            -179.05805568179122,
+            153.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -716.3530790088885,
+            -179.05805568179122,
+            150.28656177480838
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -744.0,
+            -184.0,
+            147.579
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_long/2025-01-19_11-57-06_173578/pose.jsonl b/Image/env_airsim_gz/astar_data/high_long/2025-01-19_11-57-06_173578/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5d3a033fc8f237423bc25df34a6f95335e8dfa89
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_long/2025-01-19_11-57-06_173578/pose.jsonl
@@ -0,0 +1,782 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -762.3434459554549,
+            -182.8233518466867,
+            150.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -762.3434459554549,
+            -182.8233518466867,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -759.3434459554549,
+            -182.8233518466867,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -756.3434459554549,
+            -182.8233518466867,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -753.3434459554549,
+            -182.8233518466867,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -750.3434459554549,
+            -182.8233518466867,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -747.3434459554549,
+            -182.8233518466867,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -744.3434459554549,
+            -182.8233518466867,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -741.3434459554549,
+            -182.8233518466867,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -738.3434459554549,
+            -182.8233518466867,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -735.3434459554549,
+            -182.8233518466867,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -732.3434459554549,
+            -182.8233518466867,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -729.3434459554549,
+            -182.8233518466867,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -726.3434459554549,
+            -182.8233518466867,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -723.3434459554549,
+            -182.8233518466867,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -720.3434459554549,
+            -182.8233518466867,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -717.3434459554549,
+            -182.8233518466867,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -714.3434459554549,
+            -182.8233518466867,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -711.3434459554549,
+            -182.8233518466867,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -708.3434459554549,
+            -182.8233518466867,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -705.3434459554549,
+            -182.8233518466867,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -702.3434459554549,
+            -182.8233518466867,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -699.3434459554549,
+            -182.8233518466867,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -696.3434459554549,
+            -182.8233518466867,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -693.3434459554549,
+            -182.8233518466867,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -690.3434459554549,
+            -182.8233518466867,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -687.3434459554549,
+            -182.8233518466867,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -684.3434459554549,
+            -182.8233518466867,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -681.3434459554549,
+            -182.8233518466867,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -678.3434459554549,
+            -182.8233518466867,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -675.3434459554549,
+            -182.8233518466867,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -672.3434459554549,
+            -182.8233518466867,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -669.3434459554549,
+            -182.8233518466867,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -666.3434459554549,
+            -182.8233518466867,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -663.3434459554549,
+            -182.8233518466867,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -660.3434459554549,
+            -182.8233518466867,
+            153.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -660.3434459554549,
+            -182.8233518466867,
+            153.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -660.3434459554549,
+            -182.8233518466867,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -658.8434459554549,
+            -185.42142805804002,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -657.3434459554549,
+            -188.01950426939334,
+            153.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -657.3434459554549,
+            -188.01950426939334,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -654.7453697441015,
+            -189.51950426939334,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -652.1472935327481,
+            -191.01950426939334,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -649.5492173213947,
+            -192.51950426939334,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -646.9511411100414,
+            -194.01950426939334,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -644.353064898688,
+            -195.51950426939334,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -641.7549886873346,
+            -197.01950426939334,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -639.1569124759812,
+            -198.51950426939334,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -636.5588362646279,
+            -200.01950426939334,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -633.9607600532745,
+            -201.51950426939334,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -631.3626838419211,
+            -203.01950426939334,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -628.7646076305678,
+            -204.51950426939334,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -626.1665314192144,
+            -206.01950426939334,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -623.568455207861,
+            -207.51950426939334,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -620.9703789965076,
+            -209.01950426939334,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -618.3723027851543,
+            -210.51950426939334,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -615.7742265738009,
+            -212.01950426939334,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -613.1761503624475,
+            -213.51950426939334,
+            153.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            -613.1761503624475,
+            -213.51950426939334,
+            150.28656177480838
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -604.0,
+            -216.0,
+            139.826
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_long/2025-01-19_12-40-14_301971/pose.jsonl b/Image/env_airsim_gz/astar_data/high_long/2025-01-19_12-40-14_301971/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c3ee9f892acb1e264eeddd1bf51e8578a22db06f
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_long/2025-01-19_12-40-14_301971/pose.jsonl
@@ -0,0 +1,1367 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -194.41961346595178,
+            57.78742999074987,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -195.91961346595178,
+            55.189353779396555,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -197.41961346595178,
+            52.59127756804324,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -198.91961346595178,
+            49.99320135668992,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -200.41961346595178,
+            47.39512514533661,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -201.91961346595178,
+            44.79704893398329,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -203.41961346595178,
+            42.198972722629975,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -204.91961346595178,
+            39.60089651127666,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -206.41961346595178,
+            37.00282029992334,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -207.91961346595178,
+            34.40474408857003,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -209.41961346595178,
+            31.80666787721671,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -210.91961346595178,
+            29.208591665863395,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -212.41961346595178,
+            26.61051545451008,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -213.91961346595178,
+            24.012439243156763,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -215.41961346595178,
+            21.414363031803447,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -216.91961346595178,
+            18.81628682045013,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -218.41961346595178,
+            16.218210609096815,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -219.91961346595178,
+            13.620134397743499,
+            150.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -219.91961346595178,
+            13.620134397743499,
+            153.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -219.91961346595178,
+            13.620134397743499,
+            156.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -219.91961346595178,
+            13.620134397743499,
+            159.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -219.91961346595178,
+            13.620134397743499,
+            162.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -219.91961346595178,
+            13.620134397743499,
+            165.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -219.91961346595178,
+            13.620134397743499,
+            168.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -219.91961346595178,
+            13.620134397743499,
+            171.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -219.91961346595178,
+            13.620134397743499,
+            174.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -219.91961346595178,
+            13.620134397743499,
+            177.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -219.91961346595178,
+            13.620134397743499,
+            180.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -219.91961346595178,
+            13.620134397743499,
+            183.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -219.91961346595178,
+            13.620134397743499,
+            186.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -219.91961346595178,
+            13.620134397743499,
+            189.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -219.91961346595178,
+            13.620134397743499,
+            192.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -219.91961346595178,
+            13.620134397743499,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -222.5176896773051,
+            12.120134397743499,
+            192.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -222.5176896773051,
+            12.120134397743499,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -225.5176896773051,
+            12.120134397743499,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -228.5176896773051,
+            12.120134397743499,
+            192.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -228.5176896773051,
+            12.120134397743499,
+            192.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -228.5176896773051,
+            12.120134397743499,
+            192.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 4.1887902047863905
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -228.5176896773051,
+            12.120134397743499,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 4.71238898038469
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -228.5176896773051,
+            9.120134397743499,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -228.5176896773051,
+            6.120134397743499,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -228.5176896773051,
+            3.1201343977434988,
+            192.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -228.5176896773051,
+            3.1201343977434988,
+            192.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -228.5176896773051,
+            3.1201343977434988,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982989
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -225.91961346595178,
+            1.620134397743499,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -223.32153725459847,
+            0.12013439774349921,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -220.72346104324515,
+            -1.3798656022565006,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -218.12538483189184,
+            -2.8798656022565003,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -215.52730862053852,
+            -4.3798656022565,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -212.9292324091852,
+            -5.8798656022565,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -210.3311561978319,
+            -7.3798656022565,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -207.73307998647857,
+            -8.8798656022565,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982986
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -205.13500377512526,
+            -10.3798656022565,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -202.53692756377194,
+            -11.8798656022565,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -199.93885135241862,
+            -13.3798656022565,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -197.3407751410653,
+            -14.8798656022565,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -194.742698929712,
+            -16.379865602256498,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982984
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            -192.14462271835868,
+            -17.879865602256498,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            -189.54654650700536,
+            -19.379865602256498,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            -186.94847029565204,
+            -20.879865602256498,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            -184.35039408429873,
+            -22.379865602256498,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            -181.7523178729454,
+            -23.879865602256498,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            -179.1542416615921,
+            -25.379865602256498,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            -176.55616545023878,
+            -26.879865602256498,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            -173.95808923888546,
+            -28.379865602256498,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            -171.36001302753215,
+            -29.879865602256498,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            -168.76193681617883,
+            -31.379865602256498,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            -166.16386060482552,
+            -32.879865602256494,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982978
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            -163.5657843934722,
+            -34.379865602256494,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            -160.96770818211888,
+            -35.879865602256494,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            -158.36963197076557,
+            -37.379865602256494,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            -155.77155575941225,
+            -38.879865602256494,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            -153.17347954805894,
+            -40.379865602256494,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            -150.57540333670562,
+            -41.879865602256494,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            -147.9773271253523,
+            -43.379865602256494,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            -145.379250913999,
+            -44.879865602256494,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            -142.78117470264567,
+            -46.379865602256494,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            -140.18309849129236,
+            -47.879865602256494,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            -137.58502227993904,
+            -49.379865602256494,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            -134.98694606858572,
+            -50.879865602256494,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 81,
+        "pos": [
+            -132.3888698572324,
+            -52.379865602256494,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 82,
+        "pos": [
+            -129.7907936458791,
+            -53.879865602256494,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 83,
+        "pos": [
+            -127.19271743452578,
+            -55.379865602256494,
+            192.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 84,
+        "pos": [
+            -124.59464122317246,
+            -56.879865602256494,
+            192.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 85,
+        "pos": [
+            -124.59464122317246,
+            -56.879865602256494,
+            189.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 86,
+        "pos": [
+            -124.59464122317246,
+            -56.879865602256494,
+            186.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 87,
+        "pos": [
+            -124.59464122317246,
+            -56.879865602256494,
+            183.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 88,
+        "pos": [
+            -124.59464122317246,
+            -56.879865602256494,
+            180.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 89,
+        "pos": [
+            -124.59464122317246,
+            -56.879865602256494,
+            177.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 90,
+        "pos": [
+            -124.59464122317246,
+            -56.879865602256494,
+            174.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 91,
+        "pos": [
+            -124.59464122317246,
+            -56.879865602256494,
+            171.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 92,
+        "pos": [
+            -124.59464122317246,
+            -56.879865602256494,
+            168.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 93,
+        "pos": [
+            -124.59464122317246,
+            -56.879865602256494,
+            165.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 94,
+        "pos": [
+            -124.59464122317246,
+            -56.879865602256494,
+            162.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 95,
+        "pos": [
+            -124.59464122317246,
+            -56.879865602256494,
+            159.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 96,
+        "pos": [
+            -124.59464122317246,
+            -56.879865602256494,
+            159.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 97,
+        "pos": [
+            -123.09464122317246,
+            -59.47794181360981,
+            159.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 98,
+        "pos": [
+            -121.59464122317246,
+            -62.076018024963126,
+            159.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 99,
+        "pos": [
+            -120.09464122317246,
+            -64.67409423631645,
+            159.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196599
+    }
+}
+{
+    "action": {
+        "imageid": 100,
+        "pos": [
+            -118.59464122317246,
+            -67.27217044766977,
+            159.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.047197551196599
+    }
+}
+{
+    "action": {
+        "imageid": 101,
+        "pos": [
+            -118.59464122317246,
+            -67.27217044766977,
+            156.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.047197551196599
+    }
+}
+{
+    "action": {
+        "imageid": 102,
+        "pos": [
+            -118.59464122317246,
+            -67.27217044766977,
+            153.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.047197551196599
+    }
+}
+{
+    "action": {
+        "imageid": 103,
+        "pos": [
+            -118.59464122317246,
+            -67.27217044766977,
+            150.28656177480838
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.047197551196599
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -104.0,
+            -96.0,
+            248.592
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_long/2025-01-19_13-09-33_743229/pose.jsonl b/Image/env_airsim_gz/astar_data/high_long/2025-01-19_13-09-33_743229/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bf3029a9a10fc945b2c1345a9608256caf3b1430
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_long/2025-01-19_13-09-33_743229/pose.jsonl
@@ -0,0 +1,561 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -714.7719133740516,
+            -172.88863554937288,
+            150.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -714.7719133740516,
+            -172.88863554937288,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -711.7719133740516,
+            -172.88863554937288,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -708.7719133740516,
+            -172.88863554937288,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -705.7719133740516,
+            -172.88863554937288,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -702.7719133740516,
+            -172.88863554937288,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -699.7719133740516,
+            -172.88863554937288,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -696.7719133740516,
+            -172.88863554937288,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -693.7719133740516,
+            -172.88863554937288,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -690.7719133740516,
+            -172.88863554937288,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -687.7719133740516,
+            -172.88863554937288,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -684.7719133740516,
+            -172.88863554937288,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -681.7719133740516,
+            -172.88863554937288,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -678.7719133740516,
+            -172.88863554937288,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -675.7719133740516,
+            -172.88863554937288,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -672.7719133740516,
+            -172.88863554937288,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -669.7719133740516,
+            -172.88863554937288,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -666.7719133740516,
+            -172.88863554937288,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -663.7719133740516,
+            -172.88863554937288,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -660.7719133740516,
+            -172.88863554937288,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -657.7719133740516,
+            -172.88863554937288,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -654.7719133740516,
+            -172.88863554937288,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -651.7719133740516,
+            -172.88863554937288,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -648.7719133740516,
+            -172.88863554937288,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -645.7719133740516,
+            -172.88863554937288,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -642.7719133740516,
+            -172.88863554937288,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -639.7719133740516,
+            -172.88863554937288,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -636.7719133740516,
+            -172.88863554937288,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -633.7719133740516,
+            -172.88863554937288,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -630.7719133740516,
+            -172.88863554937288,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -627.7719133740516,
+            -172.88863554937288,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -624.7719133740516,
+            -172.88863554937288,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -621.7719133740516,
+            -172.88863554937288,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -618.7719133740516,
+            -172.88863554937288,
+            153.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -618.7719133740516,
+            -172.88863554937288,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -616.1738371626982,
+            -174.38863554937288,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -613.5757609513448,
+            -175.88863554937288,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -610.9776847399914,
+            -177.38863554937288,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -608.3796085286381,
+            -178.88863554937288,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -605.7815323172847,
+            -180.38863554937288,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -603.1834561059313,
+            -181.88863554937288,
+            153.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -603.1834561059313,
+            -181.88863554937288,
+            150.28656177480838
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -552.0,
+            -188.0,
+            158.828
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_long/2025-01-19_13-41-41_581529/pose.jsonl b/Image/env_airsim_gz/astar_data/high_long/2025-01-19_13-41-41_581529/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c9a05149e92154e332f27ae15861c2b4321d3529
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_long/2025-01-19_13-41-41_581529/pose.jsonl
@@ -0,0 +1,743 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -18.623403316326282,
+            552.8446426184433,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -17.123403316326282,
+            550.2465664070901,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -15.623403316326282,
+            547.6484901957367,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -14.123403316326282,
+            545.0504139843833,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -12.623403316326282,
+            542.45233777303,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -11.123403316326282,
+            539.8542615616766,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -9.623403316326282,
+            537.2561853503232,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -8.123403316326282,
+            534.6581091389698,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -6.623403316326282,
+            532.0600329276165,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -5.123403316326282,
+            529.4619567162631,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -3.6234033163262818,
+            526.8638805049097,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -2.1234033163262813,
+            524.2658042935564,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -0.6234033163262809,
+            521.667728082203,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            0.8765966836737196,
+            519.0696518708496,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            2.37659668367372,
+            516.4715756594962,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            3.8765966836737205,
+            513.8734994481429,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            5.376596683673721,
+            511.27542323678955,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965974
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            6.876596683673721,
+            508.67734702543623,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            8.376596683673721,
+            506.0792708140829,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            9.876596683673721,
+            503.4811946027296,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            11.376596683673721,
+            500.8831183913763,
+            150.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            11.376596683673721,
+            500.8831183913763,
+            153.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            11.376596683673721,
+            500.8831183913763,
+            156.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            11.376596683673721,
+            500.8831183913763,
+            159.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            11.376596683673721,
+            500.8831183913763,
+            159.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            11.376596683673721,
+            497.8831183913763,
+            159.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            11.376596683673721,
+            494.8831183913763,
+            159.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            11.376596683673721,
+            494.8831183913763,
+            159.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            12.876596683673721,
+            492.28504218002297,
+            159.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            14.376596683673721,
+            489.68696596866965,
+            159.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            15.876596683673721,
+            487.08888975731634,
+            159.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            17.37659668367372,
+            484.490813545963,
+            159.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            18.87659668367372,
+            481.8927373346097,
+            159.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            20.37659668367372,
+            479.2946611232564,
+            159.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            21.87659668367372,
+            476.6965849119031,
+            159.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            23.37659668367372,
+            474.09850870054976,
+            159.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            24.87659668367372,
+            471.50043248919644,
+            159.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            26.37659668367372,
+            468.9023562778431,
+            159.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            27.87659668367372,
+            466.3042800664898,
+            159.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            27.87659668367372,
+            466.3042800664898,
+            159.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            27.87659668367372,
+            463.3042800664898,
+            159.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            27.87659668367372,
+            460.3042800664898,
+            159.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            27.87659668367372,
+            457.3042800664898,
+            159.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            27.87659668367372,
+            454.3042800664898,
+            159.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            27.87659668367372,
+            451.3042800664898,
+            159.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            27.87659668367372,
+            448.3042800664898,
+            159.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            27.87659668367372,
+            445.3042800664898,
+            159.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            27.87659668367372,
+            442.3042800664898,
+            159.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            27.87659668367372,
+            439.3042800664898,
+            159.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            27.87659668367372,
+            436.3042800664898,
+            159.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            27.87659668367372,
+            433.3042800664898,
+            159.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            27.87659668367372,
+            430.3042800664898,
+            159.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            27.87659668367372,
+            427.3042800664898,
+            159.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            27.87659668367372,
+            427.3042800664898,
+            156.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            27.87659668367372,
+            427.3042800664898,
+            153.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            27.87659668367372,
+            427.3042800664898,
+            150.28656177480838
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            36.0,
+            408.0,
+            143.294
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_long/2025-01-19_13-51-43_738162/pose.jsonl b/Image/env_airsim_gz/astar_data/high_long/2025-01-19_13-51-43_738162/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c46764dc86eb9b42c527eb5404cc76e431d43e5f
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_long/2025-01-19_13-51-43_738162/pose.jsonl
@@ -0,0 +1,1263 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            177.67568409546615,
+            73.61973713675572,
+            150.28656177480838
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            177.67568409546615,
+            73.61973713675572,
+            153.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            177.67568409546615,
+            73.61973713675572,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            180.27376030681947,
+            72.11973713675572,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            182.87183651817278,
+            70.61973713675572,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            185.4699127295261,
+            69.11973713675572,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            188.06798894087942,
+            67.61973713675572,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            190.66606515223273,
+            66.11973713675572,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            193.26414136358605,
+            64.61973713675572,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            195.86221757493936,
+            63.11973713675572,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            198.46029378629268,
+            61.61973713675572,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            201.058369997646,
+            60.11973713675572,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            203.6564462089993,
+            58.61973713675572,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            206.25452242035263,
+            57.11973713675572,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            208.85259863170594,
+            55.61973713675572,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            211.45067484305926,
+            54.11973713675572,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            214.04875105441258,
+            52.61973713675572,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            216.6468272657659,
+            51.11973713675572,
+            153.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            216.6468272657659,
+            51.11973713675572,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            218.1468272657659,
+            48.5216609254024,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            219.6468272657659,
+            45.923584714049085,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            221.1468272657659,
+            43.32550850269577,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            222.6468272657659,
+            40.72743229134245,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            224.1468272657659,
+            38.12935607998914,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            225.6468272657659,
+            35.53127986863582,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            227.1468272657659,
+            32.933203657282505,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            228.6468272657659,
+            30.33512744592919,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            230.1468272657659,
+            27.737051234575873,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            231.6468272657659,
+            25.138975023222557,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            233.1468272657659,
+            22.54089881186924,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            234.6468272657659,
+            19.942822600515925,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            236.1468272657659,
+            17.34474638916261,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            237.6468272657659,
+            14.746670177809293,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            239.1468272657659,
+            12.148593966455977,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            240.6468272657659,
+            9.55051775510266,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            242.1468272657659,
+            6.9524415437493445,
+            153.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            242.1468272657659,
+            6.9524415437493445,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            242.1468272657659,
+            3.9524415437493445,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            242.1468272657659,
+            0.9524415437493445,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            242.1468272657659,
+            -2.0475584562506555,
+            153.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            242.1468272657659,
+            -2.0475584562506555,
+            153.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            242.1468272657659,
+            -2.0475584562506555,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            239.54875105441258,
+            -3.5475584562506555,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            236.95067484305926,
+            -5.0475584562506555,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            234.35259863170594,
+            -6.5475584562506555,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            231.75452242035263,
+            -8.047558456250655,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            229.1564462089993,
+            -9.547558456250655,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            226.558369997646,
+            -11.047558456250655,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            223.96029378629268,
+            -12.547558456250655,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            221.36221757493936,
+            -14.047558456250655,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            218.76414136358605,
+            -15.547558456250655,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            216.16606515223273,
+            -17.047558456250655,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            213.56798894087942,
+            -18.547558456250655,
+            153.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            213.56798894087942,
+            -18.547558456250655,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            210.56798894087942,
+            -18.547558456250655,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            207.56798894087942,
+            -18.547558456250655,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            204.56798894087942,
+            -18.547558456250655,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            201.56798894087942,
+            -18.547558456250655,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            198.56798894087942,
+            -18.547558456250655,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            195.56798894087942,
+            -18.547558456250655,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            192.56798894087942,
+            -18.547558456250655,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            189.56798894087942,
+            -18.547558456250655,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            186.56798894087942,
+            -18.547558456250655,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            183.56798894087942,
+            -18.547558456250655,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            180.56798894087942,
+            -18.547558456250655,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            177.56798894087942,
+            -18.547558456250655,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            174.56798894087942,
+            -18.547558456250655,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            171.56798894087942,
+            -18.547558456250655,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            168.56798894087942,
+            -18.547558456250655,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            165.56798894087942,
+            -18.547558456250655,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            162.56798894087942,
+            -18.547558456250655,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            159.56798894087942,
+            -18.547558456250655,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            156.56798894087942,
+            -18.547558456250655,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            153.56798894087942,
+            -18.547558456250655,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            150.56798894087942,
+            -18.547558456250655,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            147.56798894087942,
+            -18.547558456250655,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            144.56798894087942,
+            -18.547558456250655,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            141.56798894087942,
+            -18.547558456250655,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            138.56798894087942,
+            -18.547558456250655,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            135.56798894087942,
+            -18.547558456250655,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            132.56798894087942,
+            -18.547558456250655,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 81,
+        "pos": [
+            129.56798894087942,
+            -18.547558456250655,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 82,
+        "pos": [
+            126.56798894087942,
+            -18.547558456250655,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 83,
+        "pos": [
+            123.56798894087942,
+            -18.547558456250655,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 84,
+        "pos": [
+            120.56798894087942,
+            -18.547558456250655,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 85,
+        "pos": [
+            117.56798894087942,
+            -18.547558456250655,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 86,
+        "pos": [
+            114.56798894087942,
+            -18.547558456250655,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 87,
+        "pos": [
+            111.56798894087942,
+            -18.547558456250655,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 88,
+        "pos": [
+            108.56798894087942,
+            -18.547558456250655,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 89,
+        "pos": [
+            105.56798894087942,
+            -18.547558456250655,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 90,
+        "pos": [
+            102.56798894087942,
+            -18.547558456250655,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 91,
+        "pos": [
+            99.56798894087942,
+            -18.547558456250655,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 92,
+        "pos": [
+            96.56798894087942,
+            -18.547558456250655,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 93,
+        "pos": [
+            93.56798894087942,
+            -18.547558456250655,
+            153.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 94,
+        "pos": [
+            90.56798894087942,
+            -18.547558456250655,
+            153.28656177480838
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 95,
+        "pos": [
+            90.56798894087942,
+            -18.547558456250655,
+            150.28656177480838
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            72.0,
+            -36.0,
+            146.253
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_long/2025-1-10_18-19-54_1937477084/pose.jsonl b/Image/env_airsim_gz/astar_data/high_long/2025-1-10_18-19-54_1937477084/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..02d9bee8bde6e4c1c6f200c547851233a1f6eab0
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_long/2025-1-10_18-19-54_1937477084/pose.jsonl
@@ -0,0 +1,652 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -512.0380095229293,
+            -162.74249635426222,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -513.5380095229293,
+            -160.1444201429089,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -515.0380095229293,
+            -157.54634393155558,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -516.5380095229293,
+            -154.94826772020227,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -518.0380095229293,
+            -152.35019150884895,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -519.5380095229293,
+            -149.75211529749564,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -521.0380095229293,
+            -147.15403908614232,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -522.5380095229293,
+            -144.555962874789,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -524.0380095229293,
+            -141.9578866634357,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -525.5380095229293,
+            -139.35981045208237,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -527.0380095229293,
+            -136.76173424072906,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -528.5380095229293,
+            -134.16365802937574,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -530.0380095229293,
+            -131.56558181802242,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -531.5380095229293,
+            -128.9675056066691,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -533.0380095229293,
+            -126.36942939531579,
+            150.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -533.0380095229293,
+            -126.36942939531579,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -533.0380095229293,
+            -123.36942939531579,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -533.0380095229293,
+            -120.36942939531579,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -533.0380095229293,
+            -117.36942939531579,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -533.0380095229293,
+            -114.36942939531579,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -533.0380095229293,
+            -111.36942939531579,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -533.0380095229293,
+            -108.36942939531579,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -533.0380095229293,
+            -105.36942939531579,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -533.0380095229293,
+            -102.36942939531579,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -533.0380095229293,
+            -99.36942939531579,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -533.0380095229293,
+            -96.36942939531579,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -533.0380095229293,
+            -93.36942939531579,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -533.0380095229293,
+            -90.36942939531579,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -533.0380095229293,
+            -87.36942939531579,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -533.0380095229293,
+            -84.36942939531579,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -533.0380095229293,
+            -81.36942939531579,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -533.0380095229293,
+            -78.36942939531579,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -533.0380095229293,
+            -75.36942939531579,
+            150.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -533.0380095229293,
+            -75.36942939531579,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -534.5380095229293,
+            -72.77135318396247,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -536.0380095229293,
+            -70.17327697260916,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -537.5380095229293,
+            -67.57520076125584,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -539.0380095229293,
+            -64.97712454990253,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -540.5380095229293,
+            -62.37904833854921,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -542.0380095229293,
+            -59.780972127195895,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -543.5380095229293,
+            -57.18289591584258,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -545.0380095229293,
+            -54.58481970448926,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -546.5380095229293,
+            -51.98674349313595,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -548.0380095229293,
+            -49.38866728178263,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -549.5380095229293,
+            -46.790591070429315,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -551.0380095229293,
+            -44.192514859076,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -552.5380095229293,
+            -41.59443864772268,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -554.0380095229293,
+            -38.99636243636937,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -555.5380095229293,
+            -36.39828622501605,
+            150.28656177480838
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -568.0,
+            -4.0,
+            139.561
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_long/2025-1-10_18-31-53_610515434/pose.jsonl b/Image/env_airsim_gz/astar_data/high_long/2025-1-10_18-31-53_610515434/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..72cee0a0d2d38f8da11fc518ad905717eff2bed2
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_long/2025-1-10_18-31-53_610515434/pose.jsonl
@@ -0,0 +1,535 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -608.4758948164741,
+            -85.44745539540905,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -605.8778186051209,
+            -83.94745539540905,
+            150.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -605.8778186051209,
+            -83.94745539540905,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -604.3778186051209,
+            -81.34937918405573,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -602.8778186051209,
+            -78.75130297270242,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -601.3778186051209,
+            -76.1532267613491,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -599.8778186051209,
+            -73.55515054999579,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -598.3778186051209,
+            -70.95707433864247,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -596.8778186051209,
+            -68.35899812728915,
+            150.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -596.8778186051209,
+            -68.35899812728915,
+            150.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -596.8778186051209,
+            -68.35899812728915,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.220446049250313e-16
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -593.8778186051209,
+            -68.35899812728915,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -590.8778186051209,
+            -68.35899812728915,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -587.8778186051209,
+            -68.35899812728915,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -584.8778186051209,
+            -68.35899812728915,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -581.8778186051209,
+            -68.35899812728915,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -578.8778186051209,
+            -68.35899812728915,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -575.8778186051209,
+            -68.35899812728915,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -572.8778186051209,
+            -68.35899812728915,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -569.8778186051209,
+            -68.35899812728915,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -566.8778186051209,
+            -68.35899812728915,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -563.8778186051209,
+            -68.35899812728915,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -560.8778186051209,
+            -68.35899812728915,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -557.8778186051209,
+            -68.35899812728915,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -554.8778186051209,
+            -68.35899812728915,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -551.8778186051209,
+            -68.35899812728915,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -548.8778186051209,
+            -68.35899812728915,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -545.8778186051209,
+            -68.35899812728915,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -542.8778186051209,
+            -68.35899812728915,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -539.8778186051209,
+            -68.35899812728915,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -536.8778186051209,
+            -68.35899812728915,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -533.8778186051209,
+            -68.35899812728915,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -530.8778186051209,
+            -68.35899812728915,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -527.8778186051209,
+            -68.35899812728915,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -524.8778186051209,
+            -68.35899812728915,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -521.8778186051209,
+            -68.35899812728915,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -518.8778186051209,
+            -68.35899812728915,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -515.8778186051209,
+            -68.35899812728915,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -512.8778186051209,
+            -68.35899812728915,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -509.87781860512086,
+            -68.35899812728915,
+            150.28656177480838
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -444.0,
+            -60.0,
+            434.554
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_long/2025-1-10_19-32-37_515530019/pose.jsonl b/Image/env_airsim_gz/astar_data/high_long/2025-1-10_19-32-37_515530019/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..754562c3fe9397ad56a77496f146c0edc08ecab7
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_long/2025-1-10_19-32-37_515530019/pose.jsonl
@@ -0,0 +1,587 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            935.4004842167124,
+            -1501.2839221608433,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            938.4004842167124,
+            -1501.2839221608433,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            941.4004842167124,
+            -1501.2839221608433,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            944.4004842167124,
+            -1501.2839221608433,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            947.4004842167124,
+            -1501.2839221608433,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            950.4004842167124,
+            -1501.2839221608433,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            953.4004842167124,
+            -1501.2839221608433,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            956.4004842167124,
+            -1501.2839221608433,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            959.4004842167124,
+            -1501.2839221608433,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            962.4004842167124,
+            -1501.2839221608433,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            965.4004842167124,
+            -1501.2839221608433,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            968.4004842167124,
+            -1501.2839221608433,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            971.4004842167124,
+            -1501.2839221608433,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            974.4004842167124,
+            -1501.2839221608433,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            977.4004842167124,
+            -1501.2839221608433,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            980.4004842167124,
+            -1501.2839221608433,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            983.4004842167124,
+            -1501.2839221608433,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            986.4004842167124,
+            -1501.2839221608433,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            989.4004842167124,
+            -1501.2839221608433,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            992.4004842167124,
+            -1501.2839221608433,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            995.4004842167124,
+            -1501.2839221608433,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            998.4004842167124,
+            -1501.2839221608433,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1001.4004842167124,
+            -1501.2839221608433,
+            150.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1001.4004842167124,
+            -1501.2839221608433,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1003.9985604280657,
+            -1499.7839221608433,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1006.5966366394191,
+            -1498.2839221608433,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1009.1947128507725,
+            -1496.7839221608433,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1011.7927890621258,
+            -1495.2839221608433,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1014.3908652734792,
+            -1493.7839221608433,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1016.9889414848326,
+            -1492.2839221608433,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1019.587017696186,
+            -1490.7839221608433,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1022.1850939075393,
+            -1489.2839221608433,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1024.7831701188927,
+            -1487.7839221608433,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1027.381246330246,
+            -1486.2839221608433,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1029.9793225415995,
+            -1484.7839221608433,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1032.5773987529528,
+            -1483.2839221608433,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1035.1754749643062,
+            -1481.7839221608433,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1037.7735511756596,
+            -1480.2839221608433,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1040.371627387013,
+            -1478.7839221608433,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1042.9697035983663,
+            -1477.2839221608433,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1045.5677798097197,
+            -1475.7839221608433,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1048.165856021073,
+            -1474.2839221608433,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1050.7639322324264,
+            -1472.7839221608433,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1053.3620084437798,
+            -1471.2839221608433,
+            150.28656177480838
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1092.0,
+            -1460.0,
+            192.956
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_long/2025-1-10_20-19-27_1605894428/pose.jsonl b/Image/env_airsim_gz/astar_data/high_long/2025-1-10_20-19-27_1605894428/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6aaf0b2c8f6dc2a301ff9fc634e0c02731a64f3e
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_long/2025-1-10_20-19-27_1605894428/pose.jsonl
@@ -0,0 +1,587 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -367.9153977634427,
+            904.4032498266041,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -370.513473974796,
+            902.9032498266041,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -373.1115501861493,
+            901.4032498266041,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -375.70962639750263,
+            899.9032498266041,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -378.30770260885595,
+            898.4032498266041,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -380.90577882020926,
+            896.9032498266041,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -383.5038550315626,
+            895.4032498266041,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -386.1019312429159,
+            893.9032498266041,
+            150.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -386.1019312429159,
+            893.9032498266041,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -387.6019312429159,
+            891.3051736152509,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -389.1019312429159,
+            888.7070974038975,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -390.6019312429159,
+            886.1090211925441,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -392.1019312429159,
+            883.5109449811907,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -393.6019312429159,
+            880.9128687698374,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -395.1019312429159,
+            878.314792558484,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -396.6019312429159,
+            875.7167163471306,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -398.1019312429159,
+            873.1186401357772,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -399.6019312429159,
+            870.5205639244239,
+            150.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -399.6019312429159,
+            870.5205639244239,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -399.6019312429159,
+            867.5205639244239,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -399.6019312429159,
+            864.5205639244239,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -399.6019312429159,
+            861.5205639244239,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -399.6019312429159,
+            858.5205639244239,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -399.6019312429159,
+            855.5205639244239,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -399.6019312429159,
+            852.5205639244239,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -399.6019312429159,
+            849.5205639244239,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -399.6019312429159,
+            846.5205639244239,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -399.6019312429159,
+            843.5205639244239,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -399.6019312429159,
+            840.5205639244239,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -399.6019312429159,
+            837.5205639244239,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -399.6019312429159,
+            834.5205639244239,
+            150.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -399.6019312429159,
+            834.5205639244239,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -398.1019312429159,
+            831.9224877130705,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -396.6019312429159,
+            829.3244115017171,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -395.1019312429159,
+            826.7263352903637,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -393.6019312429159,
+            824.1282590790104,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -392.1019312429159,
+            821.530182867657,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -390.6019312429159,
+            818.9321066563036,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -389.1019312429159,
+            816.3340304449503,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -387.6019312429159,
+            813.7359542335969,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -386.1019312429159,
+            811.1378780222435,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -384.6019312429159,
+            808.5398018108901,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -383.1019312429159,
+            805.9417255995368,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -381.6019312429159,
+            803.3436493881834,
+            150.28656177480838
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -388.0,
+            736.0,
+            158.404
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_long/2025-1-10_21-20-47_1473442062/pose.jsonl b/Image/env_airsim_gz/astar_data/high_long/2025-1-10_21-20-47_1473442062/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2e370847aa23a6a44cc3c98c1d34f398fa059142
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_long/2025-1-10_21-20-47_1473442062/pose.jsonl
@@ -0,0 +1,561 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -551.1590547462381,
+            -237.9504329375168,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -554.1590547462381,
+            -237.9504329375168,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -557.1590547462381,
+            -237.9504329375168,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -560.1590547462381,
+            -237.9504329375168,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -563.1590547462381,
+            -237.9504329375168,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -566.1590547462381,
+            -237.9504329375168,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -569.1590547462381,
+            -237.9504329375168,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -572.1590547462381,
+            -237.9504329375168,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -575.1590547462381,
+            -237.9504329375168,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -578.1590547462381,
+            -237.9504329375168,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -581.1590547462381,
+            -237.9504329375168,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -584.1590547462381,
+            -237.9504329375168,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -587.1590547462381,
+            -237.9504329375168,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -590.1590547462381,
+            -237.9504329375168,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -593.1590547462381,
+            -237.9504329375168,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -596.1590547462381,
+            -237.9504329375168,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -599.1590547462381,
+            -237.9504329375168,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -602.1590547462381,
+            -237.9504329375168,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -605.1590547462381,
+            -237.9504329375168,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -608.1590547462381,
+            -237.9504329375168,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -611.1590547462381,
+            -237.9504329375168,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -614.1590547462381,
+            -237.9504329375168,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -617.1590547462381,
+            -237.9504329375168,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -620.1590547462381,
+            -237.9504329375168,
+            150.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -620.1590547462381,
+            -237.9504329375168,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -622.7571309575915,
+            -236.4504329375168,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -625.3552071689448,
+            -234.9504329375168,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -627.9532833802982,
+            -233.4504329375168,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -630.5513595916516,
+            -231.9504329375168,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -633.149435803005,
+            -230.4504329375168,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -635.7475120143583,
+            -228.9504329375168,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -638.3455882257117,
+            -227.4504329375168,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -640.9436644370651,
+            -225.9504329375168,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -643.5417406484185,
+            -224.4504329375168,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -646.1398168597718,
+            -222.9504329375168,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -648.7378930711252,
+            -221.4504329375168,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -651.3359692824786,
+            -219.9504329375168,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -653.934045493832,
+            -218.4504329375168,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -656.5321217051853,
+            -216.9504329375168,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -659.1301979165387,
+            -215.4504329375168,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -661.7282741278921,
+            -213.9504329375168,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -664.3263503392454,
+            -212.4504329375168,
+            150.28656177480838
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -708.0,
+            -200.0,
+            147.68
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_long/2025-1-10_21-28-37_619290071/pose.jsonl b/Image/env_airsim_gz/astar_data/high_long/2025-1-10_21-28-37_619290071/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ba38204dd58b47ed162ee8087d723552c3aad138
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_long/2025-1-10_21-28-37_619290071/pose.jsonl
@@ -0,0 +1,717 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -575.6345929710584,
+            -39.710562775299024,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -573.0365167597051,
+            -41.210562775299024,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -570.4384405483518,
+            -42.710562775299024,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -567.8403643369984,
+            -44.210562775299024,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -565.242288125645,
+            -45.710562775299024,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -562.6442119142916,
+            -47.210562775299024,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -560.0461357029383,
+            -48.710562775299024,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -557.4480594915849,
+            -50.210562775299024,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -554.8499832802315,
+            -51.710562775299024,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -552.2519070688782,
+            -53.210562775299024,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -549.6538308575248,
+            -54.710562775299024,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -547.0557546461714,
+            -56.210562775299024,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -544.457678434818,
+            -57.710562775299024,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -541.8596022234647,
+            -59.210562775299024,
+            150.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -541.8596022234647,
+            -59.210562775299024,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -540.3596022234647,
+            -61.80863898665234,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -538.8596022234647,
+            -64.40671519800566,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -537.3596022234647,
+            -67.00479140935897,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -535.8596022234647,
+            -69.60286762071229,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -534.3596022234647,
+            -72.2009438320656,
+            150.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -534.3596022234647,
+            -72.2009438320656,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -534.3596022234647,
+            -75.2009438320656,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -534.3596022234647,
+            -78.2009438320656,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -534.3596022234647,
+            -81.2009438320656,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -534.3596022234647,
+            -84.2009438320656,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -534.3596022234647,
+            -87.2009438320656,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -534.3596022234647,
+            -90.2009438320656,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -534.3596022234647,
+            -93.2009438320656,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -534.3596022234647,
+            -96.2009438320656,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -534.3596022234647,
+            -99.2009438320656,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -534.3596022234647,
+            -102.2009438320656,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -534.3596022234647,
+            -105.2009438320656,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -534.3596022234647,
+            -108.2009438320656,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -534.3596022234647,
+            -111.2009438320656,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -534.3596022234647,
+            -114.2009438320656,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -534.3596022234647,
+            -117.2009438320656,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -534.3596022234647,
+            -120.2009438320656,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -534.3596022234647,
+            -123.2009438320656,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -534.3596022234647,
+            -126.2009438320656,
+            150.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -534.3596022234647,
+            -126.2009438320656,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -535.8596022234647,
+            -128.79902004341892,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -537.3596022234647,
+            -131.39709625477224,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -538.8596022234647,
+            -133.99517246612555,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -540.3596022234647,
+            -136.59324867747887,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -541.8596022234647,
+            -139.19132488883218,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -543.3596022234647,
+            -141.7894011001855,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -544.8596022234647,
+            -144.38747731153882,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -546.3596022234647,
+            -146.98555352289213,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -547.8596022234647,
+            -149.58362973424545,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -549.3596022234647,
+            -152.18170594559876,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -550.8596022234647,
+            -154.77978215695208,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -552.3596022234647,
+            -157.3778583683054,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -553.8596022234647,
+            -159.9759345796587,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -555.3596022234647,
+            -162.57401079101203,
+            150.28656177480838
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -552.0,
+            -188.0,
+            158.828
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_long/2025-1-10_21-4-38_1369321801/pose.jsonl b/Image/env_airsim_gz/astar_data/high_long/2025-1-10_21-4-38_1369321801/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cb486bbc1cc5ba9e7763d0a0a4ea0903e20666b2
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_long/2025-1-10_21-4-38_1369321801/pose.jsonl
@@ -0,0 +1,626 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -626.8143922690699,
+            -282.20839444327544,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -628.3143922690699,
+            -279.6103182319221,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -629.8143922690699,
+            -277.0122420205688,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -631.3143922690699,
+            -274.4141658092155,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -632.8143922690699,
+            -271.8160895978622,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -634.3143922690699,
+            -269.21801338650886,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -635.8143922690699,
+            -266.61993717515554,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -637.3143922690699,
+            -264.0218609638022,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -638.8143922690699,
+            -261.4237847524489,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -640.3143922690699,
+            -258.8257085410956,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -641.8143922690699,
+            -256.2276323297423,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -643.3143922690699,
+            -253.62955611838896,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -644.8143922690699,
+            -251.03147990703565,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -646.3143922690699,
+            -248.43340369568233,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -647.8143922690699,
+            -245.835327484329,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -649.3143922690699,
+            -243.2372512729757,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -650.8143922690699,
+            -240.63917506162238,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -652.3143922690699,
+            -238.04109885026907,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -653.8143922690699,
+            -235.44302263891575,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -655.3143922690699,
+            -232.84494642756243,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -656.8143922690699,
+            -230.24687021620912,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -658.3143922690699,
+            -227.6487940048558,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -659.8143922690699,
+            -225.05071779350249,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -661.3143922690699,
+            -222.45264158214917,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -662.8143922690699,
+            -219.85456537079585,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -664.3143922690699,
+            -217.25648915944254,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -665.8143922690699,
+            -214.65841294808922,
+            150.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -665.8143922690699,
+            -214.65841294808922,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -665.8143922690699,
+            -211.65841294808922,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -665.8143922690699,
+            -208.65841294808922,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -665.8143922690699,
+            -205.65841294808922,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -665.8143922690699,
+            -202.65841294808922,
+            150.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -665.8143922690699,
+            -202.65841294808922,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -667.3143922690699,
+            -200.0603367367359,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -668.8143922690699,
+            -197.4622605253826,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -670.3143922690699,
+            -194.86418431402927,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -671.8143922690699,
+            -192.26610810267596,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -673.3143922690699,
+            -189.66803189132264,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -674.8143922690699,
+            -187.06995567996933,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -676.3143922690699,
+            -184.471879468616,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -677.8143922690699,
+            -181.8738032572627,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -679.3143922690699,
+            -179.27572704590938,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -680.8143922690699,
+            -176.67765083455606,
+            150.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -680.8143922690699,
+            -176.67765083455606,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -683.4124684804233,
+            -175.17765083455606,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -686.0105446917767,
+            -173.67765083455606,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -688.60862090313,
+            -172.17765083455606,
+            150.28656177480838
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -708.0,
+            -136.0,
+            147.579
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_long/2025-1-10_21-49-3_1953443376/pose.jsonl b/Image/env_airsim_gz/astar_data/high_long/2025-1-10_21-49-3_1953443376/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ffefaf90ddf0a4f3d267f0c2058c604d716910ac
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_long/2025-1-10_21-49-3_1953443376/pose.jsonl
@@ -0,0 +1,509 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1109.6403028505292,
+            -1436.0815134366003,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1106.6403028505292,
+            -1436.0815134366003,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1103.6403028505292,
+            -1436.0815134366003,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1100.6403028505292,
+            -1436.0815134366003,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1097.6403028505292,
+            -1436.0815134366003,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1094.6403028505292,
+            -1436.0815134366003,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1091.6403028505292,
+            -1436.0815134366003,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1088.6403028505292,
+            -1436.0815134366003,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1085.6403028505292,
+            -1436.0815134366003,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1082.6403028505292,
+            -1436.0815134366003,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1079.6403028505292,
+            -1436.0815134366003,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1076.6403028505292,
+            -1436.0815134366003,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1073.6403028505292,
+            -1436.0815134366003,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1070.6403028505292,
+            -1436.0815134366003,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1067.6403028505292,
+            -1436.0815134366003,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1064.6403028505292,
+            -1436.0815134366003,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1061.6403028505292,
+            -1436.0815134366003,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1058.6403028505292,
+            -1436.0815134366003,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1055.6403028505292,
+            -1436.0815134366003,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1052.6403028505292,
+            -1436.0815134366003,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1049.6403028505292,
+            -1436.0815134366003,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1046.6403028505292,
+            -1436.0815134366003,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1043.6403028505292,
+            -1436.0815134366003,
+            150.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1043.6403028505292,
+            -1436.0815134366003,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1041.0422266391759,
+            -1437.5815134366003,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1038.4441504278225,
+            -1439.0815134366003,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1035.846074216469,
+            -1440.5815134366003,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1033.2479980051157,
+            -1442.0815134366003,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1030.6499217937624,
+            -1443.5815134366003,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1028.051845582409,
+            -1445.0815134366003,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1025.4537693710556,
+            -1446.5815134366003,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1022.8556931597022,
+            -1448.0815134366003,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1020.2576169483489,
+            -1449.5815134366003,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1017.6595407369955,
+            -1451.0815134366003,
+            150.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1017.6595407369955,
+            -1451.0815134366003,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1014.6595407369955,
+            -1451.0815134366003,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1011.6595407369955,
+            -1451.0815134366003,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1008.6595407369955,
+            -1451.0815134366003,
+            150.28656177480838
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            960.0,
+            -1456.0,
+            192.957
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_long/2025-1-10_22-38-33_780821396/pose.jsonl b/Image/env_airsim_gz/astar_data/high_long/2025-1-10_22-38-33_780821396/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..35da05683155d209b3a22be83cf4774d66dfbc7e
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_long/2025-1-10_22-38-33_780821396/pose.jsonl
@@ -0,0 +1,587 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -650.1377289420063,
+            -63.89071898270127,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -648.6377289420063,
+            -66.48879519405459,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -647.1377289420063,
+            -69.0868714054079,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -645.6377289420063,
+            -71.68494761676122,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -644.1377289420063,
+            -74.28302382811454,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -642.6377289420063,
+            -76.88110003946785,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -641.1377289420063,
+            -79.47917625082117,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -639.6377289420063,
+            -82.07725246217449,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -638.1377289420063,
+            -84.6753286735278,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -636.6377289420063,
+            -87.27340488488112,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -635.1377289420063,
+            -89.87148109623443,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -633.6377289420063,
+            -92.46955730758775,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -632.1377289420063,
+            -95.06763351894107,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -630.6377289420063,
+            -97.66570973029438,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -629.1377289420063,
+            -100.2637859416477,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -627.6377289420063,
+            -102.86186215300101,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -626.1377289420063,
+            -105.45993836435433,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -624.6377289420063,
+            -108.05801457570765,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -623.1377289420063,
+            -110.65609078706096,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -621.6377289420063,
+            -113.25416699841428,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -620.1377289420063,
+            -115.8522432097676,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -618.6377289420063,
+            -118.45031942112091,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -617.1377289420063,
+            -121.04839563247423,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -615.6377289420063,
+            -123.64647184382754,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -614.1377289420063,
+            -126.24454805518086,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -612.6377289420063,
+            -128.8426242665342,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -611.1377289420063,
+            -131.4407004778875,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -609.6377289420063,
+            -134.03877668924082,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -608.1377289420063,
+            -136.63685290059414,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -606.6377289420063,
+            -139.23492911194745,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -605.1377289420063,
+            -141.83300532330077,
+            150.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -605.1377289420063,
+            -141.83300532330077,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -602.539652730653,
+            -143.33300532330077,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -599.9415765192996,
+            -144.83300532330077,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -597.3435003079462,
+            -146.33300532330077,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -594.7454240965928,
+            -147.83300532330077,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -592.1473478852395,
+            -149.33300532330077,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -589.5492716738861,
+            -150.83300532330077,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -586.9511954625327,
+            -152.33300532330077,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -584.3531192511794,
+            -153.83300532330077,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -581.755043039826,
+            -155.33300532330077,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -579.1569668284726,
+            -156.83300532330077,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -576.5588906171192,
+            -158.33300532330077,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -573.9608144057659,
+            -159.83300532330077,
+            150.28656177480838
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -552.0,
+            -188.0,
+            158.828
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_long/2025-1-10_23-36-57_212251746/pose.jsonl b/Image/env_airsim_gz/astar_data/high_long/2025-1-10_23-36-57_212251746/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..da058e7d7cccc82222f0d50d7161c89fa87b92c1
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_long/2025-1-10_23-36-57_212251746/pose.jsonl
@@ -0,0 +1,574 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            939.7246897448837,
+            -1500.6219451191105,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            942.7246897448837,
+            -1500.6219451191105,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            945.7246897448837,
+            -1500.6219451191105,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            948.7246897448837,
+            -1500.6219451191105,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            951.7246897448837,
+            -1500.6219451191105,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            954.7246897448837,
+            -1500.6219451191105,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            957.7246897448837,
+            -1500.6219451191105,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            960.7246897448837,
+            -1500.6219451191105,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            963.7246897448837,
+            -1500.6219451191105,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            966.7246897448837,
+            -1500.6219451191105,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            969.7246897448837,
+            -1500.6219451191105,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            972.7246897448837,
+            -1500.6219451191105,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            975.7246897448837,
+            -1500.6219451191105,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            978.7246897448837,
+            -1500.6219451191105,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            981.7246897448837,
+            -1500.6219451191105,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            984.7246897448837,
+            -1500.6219451191105,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            987.7246897448837,
+            -1500.6219451191105,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            990.7246897448837,
+            -1500.6219451191105,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            993.7246897448837,
+            -1500.6219451191105,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            996.7246897448837,
+            -1500.6219451191105,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            999.7246897448837,
+            -1500.6219451191105,
+            150.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            999.7246897448837,
+            -1500.6219451191105,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1002.3227659562369,
+            -1499.1219451191105,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1004.9208421675903,
+            -1497.6219451191105,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1007.5189183789437,
+            -1496.1219451191105,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1010.116994590297,
+            -1494.6219451191105,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1012.7150708016504,
+            -1493.1219451191105,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1015.3131470130038,
+            -1491.6219451191105,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1017.9112232243572,
+            -1490.1219451191105,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1020.5092994357105,
+            -1488.6219451191105,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1023.1073756470639,
+            -1487.1219451191105,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1025.7054518584173,
+            -1485.6219451191105,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1028.3035280697707,
+            -1484.1219451191105,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1030.901604281124,
+            -1482.6219451191105,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1033.4996804924774,
+            -1481.1219451191105,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1036.0977567038308,
+            -1479.6219451191105,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1038.6958329151842,
+            -1478.1219451191105,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1041.2939091265375,
+            -1476.6219451191105,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1043.891985337891,
+            -1475.1219451191105,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1046.4900615492443,
+            -1473.6219451191105,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1049.0881377605976,
+            -1472.1219451191105,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1051.686213971951,
+            -1470.6219451191105,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1054.2842901833044,
+            -1469.1219451191105,
+            150.28656177480838
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1092.0,
+            -1460.0,
+            192.956
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_long/2025-1-10_23-55-34_430253414/pose.jsonl b/Image/env_airsim_gz/astar_data/high_long/2025-1-10_23-55-34_430253414/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..de189f1c4b5728708eb3992c7377ed4ea6c2c119
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_long/2025-1-10_23-55-34_430253414/pose.jsonl
@@ -0,0 +1,665 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -127.29909684807555,
+            -155.84707095437153,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -124.29909684807555,
+            -155.84707095437153,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -121.29909684807555,
+            -155.84707095437153,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -118.29909684807555,
+            -155.84707095437153,
+            150.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -118.29909684807555,
+            -155.84707095437153,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -115.70102063672223,
+            -154.34707095437153,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -113.10294442536892,
+            -152.84707095437153,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -110.5048682140156,
+            -151.34707095437153,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -107.90679200266229,
+            -149.84707095437153,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -105.30871579130897,
+            -148.34707095437153,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -102.71063957995565,
+            -146.84707095437153,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -100.11256336860234,
+            -145.34707095437153,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -97.51448715724902,
+            -143.84707095437153,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -94.9164109458957,
+            -142.34707095437153,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -92.31833473454239,
+            -140.84707095437153,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -89.72025852318907,
+            -139.34707095437153,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -87.12218231183576,
+            -137.84707095437153,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -84.52410610048244,
+            -136.34707095437153,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -81.92602988912913,
+            -134.84707095437153,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -79.32795367777581,
+            -133.34707095437153,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -76.7298774664225,
+            -131.84707095437153,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -74.13180125506918,
+            -130.34707095437153,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -71.53372504371586,
+            -128.84707095437153,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -68.93564883236255,
+            -127.34707095437153,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -66.33757262100923,
+            -125.84707095437153,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -63.739496409655914,
+            -124.34707095437153,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -61.1414201983026,
+            -122.84707095437153,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -58.54334398694928,
+            -121.34707095437153,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -55.945267775595966,
+            -119.84707095437153,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -53.34719156424265,
+            -118.34707095437153,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -50.74911535288933,
+            -116.84707095437153,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -48.15103914153602,
+            -115.34707095437153,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -45.5529629301827,
+            -113.84707095437153,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -42.954886718829385,
+            -112.34707095437153,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -40.35681050747607,
+            -110.84707095437153,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -37.75873429612275,
+            -109.34707095437153,
+            150.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -37.75873429612275,
+            -109.34707095437153,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -36.25873429612275,
+            -106.74899474301822,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -34.75873429612275,
+            -104.1509185316649,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -33.25873429612275,
+            -101.55284232031158,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -31.758734296122753,
+            -98.95476610895827,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -30.258734296122753,
+            -96.35668989760495,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -28.758734296122753,
+            -93.75861368625164,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -27.258734296122753,
+            -91.16053747489832,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -25.758734296122753,
+            -88.562461263545,
+            150.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -25.758734296122753,
+            -88.562461263545,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -23.160658084769437,
+            -87.062461263545,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -20.56258187341612,
+            -85.562461263545,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -17.964505662062805,
+            -84.062461263545,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -15.36642945070949,
+            -82.562461263545,
+            150.28656177480838
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            8.0,
+            -68.0,
+            154.054
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_long/2025-1-11_0-31-1_1841585795/pose.jsonl b/Image/env_airsim_gz/astar_data/high_long/2025-1-11_0-31-1_1841585795/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..268f80c5454df657ca7ddfcc50114cf3e4219c50
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_long/2025-1-11_0-31-1_1841585795/pose.jsonl
@@ -0,0 +1,600 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -515.8070133903749,
+            -61.72147994785976,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -517.3070133903749,
+            -64.31955615921308,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -518.8070133903749,
+            -66.9176323705664,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -520.3070133903749,
+            -69.51570858191971,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -521.8070133903749,
+            -72.11378479327303,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -523.3070133903749,
+            -74.71186100462634,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -524.8070133903749,
+            -77.30993721597966,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -526.3070133903749,
+            -79.90801342733297,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -527.8070133903749,
+            -82.50608963868629,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -529.3070133903749,
+            -85.1041658500396,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -530.8070133903749,
+            -87.70224206139292,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -532.3070133903749,
+            -90.30031827274624,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -533.8070133903749,
+            -92.89839448409955,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -535.3070133903749,
+            -95.49647069545287,
+            150.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -535.3070133903749,
+            -95.49647069545287,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -535.3070133903749,
+            -98.49647069545287,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -535.3070133903749,
+            -101.49647069545287,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -535.3070133903749,
+            -104.49647069545287,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -535.3070133903749,
+            -107.49647069545287,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -535.3070133903749,
+            -110.49647069545287,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -535.3070133903749,
+            -113.49647069545287,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -535.3070133903749,
+            -116.49647069545287,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -535.3070133903749,
+            -119.49647069545287,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -535.3070133903749,
+            -122.49647069545287,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -535.3070133903749,
+            -125.49647069545287,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -535.3070133903749,
+            -128.49647069545287,
+            150.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -535.3070133903749,
+            -128.49647069545287,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -536.8070133903749,
+            -131.0945469068062,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -538.3070133903749,
+            -133.6926231181595,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -539.8070133903749,
+            -136.29069932951282,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -541.3070133903749,
+            -138.88877554086613,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -542.8070133903749,
+            -141.48685175221945,
+            150.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -542.8070133903749,
+            -141.48685175221945,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -545.4050896017282,
+            -142.98685175221945,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -548.0031658130815,
+            -144.48685175221945,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -550.6012420244349,
+            -145.98685175221945,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -553.1993182357883,
+            -147.48685175221945,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -555.7973944471416,
+            -148.98685175221945,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -558.395470658495,
+            -150.48685175221945,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -560.9935468698484,
+            -151.98685175221945,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -563.5916230812018,
+            -153.48685175221945,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -566.1896992925551,
+            -154.98685175221945,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -568.7877755039085,
+            -156.48685175221945,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -571.3858517152619,
+            -157.98685175221945,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -573.9839279266153,
+            -159.48685175221945,
+            150.28656177480838
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -604.0,
+            -216.0,
+            139.826
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_long/2025-1-11_1-42-10_37487770/pose.jsonl b/Image/env_airsim_gz/astar_data/high_long/2025-1-11_1-42-10_37487770/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d03b52616c0c5095a71004208cd8f379b95efa0b
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_long/2025-1-11_1-42-10_37487770/pose.jsonl
@@ -0,0 +1,938 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            221.7844009675168,
+            20.375376400442228,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            224.7844009675168,
+            20.375376400442228,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            227.7844009675168,
+            20.375376400442228,
+            150.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            227.7844009675168,
+            20.375376400442228,
+            150.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            227.7844009675168,
+            20.375376400442228,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            229.2844009675168,
+            17.777300189088912,
+            150.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            229.2844009675168,
+            17.777300189088912,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            231.88247717887012,
+            16.277300189088912,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            234.48055339022343,
+            14.777300189088912,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            237.07862960157675,
+            13.277300189088912,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            239.67670581293007,
+            11.777300189088912,
+            150.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            239.67670581293007,
+            11.777300189088912,
+            150.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            239.67670581293007,
+            11.777300189088912,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            239.67670581293007,
+            8.777300189088912,
+            150.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            239.67670581293007,
+            8.777300189088912,
+            150.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            239.67670581293007,
+            8.777300189088912,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982989
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            242.27478202428338,
+            7.277300189088912,
+            150.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            242.27478202428338,
+            7.277300189088912,
+            150.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            242.27478202428338,
+            7.277300189088912,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            242.27478202428338,
+            4.277300189088912,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            242.27478202428338,
+            1.277300189088912,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            242.27478202428338,
+            -1.722699810911088,
+            150.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            242.27478202428338,
+            -1.722699810911088,
+            150.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            242.27478202428338,
+            -1.722699810911088,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            239.67670581293007,
+            -3.222699810911088,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            237.07862960157675,
+            -4.722699810911088,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            234.48055339022343,
+            -6.222699810911088,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            231.88247717887012,
+            -7.722699810911088,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            229.2844009675168,
+            -9.222699810911088,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            226.6863247561635,
+            -10.722699810911088,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            224.08824854481017,
+            -12.222699810911088,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            221.49017233345685,
+            -13.722699810911088,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            218.89209612210354,
+            -15.222699810911088,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            216.29401991075022,
+            -16.722699810911088,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            213.6959436993969,
+            -18.222699810911088,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            211.0978674880436,
+            -19.722699810911088,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            208.49979127669027,
+            -21.222699810911088,
+            150.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            208.49979127669027,
+            -21.222699810911088,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            205.49979127669027,
+            -21.222699810911088,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            202.49979127669027,
+            -21.222699810911088,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            199.49979127669027,
+            -21.222699810911088,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            196.49979127669027,
+            -21.222699810911088,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            193.49979127669027,
+            -21.222699810911088,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            190.49979127669027,
+            -21.222699810911088,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            187.49979127669027,
+            -21.222699810911088,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            184.49979127669027,
+            -21.222699810911088,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            181.49979127669027,
+            -21.222699810911088,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            178.49979127669027,
+            -21.222699810911088,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            175.49979127669027,
+            -21.222699810911088,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            172.49979127669027,
+            -21.222699810911088,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            169.49979127669027,
+            -21.222699810911088,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            166.49979127669027,
+            -21.222699810911088,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            163.49979127669027,
+            -21.222699810911088,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            160.49979127669027,
+            -21.222699810911088,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            157.49979127669027,
+            -21.222699810911088,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            154.49979127669027,
+            -21.222699810911088,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            151.49979127669027,
+            -21.222699810911088,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            148.49979127669027,
+            -21.222699810911088,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            145.49979127669027,
+            -21.222699810911088,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            142.49979127669027,
+            -21.222699810911088,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            139.49979127669027,
+            -21.222699810911088,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            136.49979127669027,
+            -21.222699810911088,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            133.49979127669027,
+            -21.222699810911088,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            130.49979127669027,
+            -21.222699810911088,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            127.49979127669027,
+            -21.222699810911088,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            124.49979127669027,
+            -21.222699810911088,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            121.49979127669027,
+            -21.222699810911088,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            118.49979127669027,
+            -21.222699810911088,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            115.49979127669027,
+            -21.222699810911088,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            112.49979127669027,
+            -21.222699810911088,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            109.49979127669027,
+            -21.222699810911088,
+            150.28656177480838
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            72.0,
+            -36.0,
+            146.253
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_long/2025-1-11_1-47-5_1745790417/pose.jsonl b/Image/env_airsim_gz/astar_data/high_long/2025-1-11_1-47-5_1745790417/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..408c280efad9950fd1798450992734e596f34189
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_long/2025-1-11_1-47-5_1745790417/pose.jsonl
@@ -0,0 +1,990 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            210.9724171733161,
+            32.904168332928364,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            213.57049338466942,
+            31.404168332928364,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            216.16856959602273,
+            29.904168332928364,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            218.76664580737605,
+            28.404168332928364,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            221.36472201872937,
+            26.904168332928364,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            223.96279823008268,
+            25.404168332928364,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            226.560874441436,
+            23.904168332928364,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            229.15895065278931,
+            22.404168332928364,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            231.75702686414263,
+            20.904168332928364,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            234.35510307549595,
+            19.404168332928364,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            236.95317928684926,
+            17.904168332928364,
+            150.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            236.95317928684926,
+            17.904168332928364,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            238.45317928684926,
+            15.306092121575048,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            239.95317928684926,
+            12.708015910221732,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            241.45317928684926,
+            10.109939698868416,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            242.95317928684926,
+            7.5118634875151,
+            150.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            242.95317928684926,
+            7.5118634875151,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            242.95317928684926,
+            4.5118634875151,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            242.95317928684926,
+            1.5118634875151002,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            242.95317928684926,
+            -1.4881365124848998,
+            150.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            242.95317928684926,
+            -1.4881365124848998,
+            150.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            242.95317928684926,
+            -1.4881365124848998,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            240.35510307549595,
+            -2.9881365124848998,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            237.75702686414263,
+            -4.4881365124849,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            235.15895065278931,
+            -5.9881365124849,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            232.560874441436,
+            -7.4881365124849,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            229.96279823008268,
+            -8.9881365124849,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            227.36472201872937,
+            -10.4881365124849,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            224.76664580737605,
+            -11.9881365124849,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            222.16856959602273,
+            -13.4881365124849,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            219.57049338466942,
+            -14.9881365124849,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            216.9724171733161,
+            -16.4881365124849,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            214.3743409619628,
+            -17.9881365124849,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            211.77626475060947,
+            -19.4881365124849,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            209.17818853925615,
+            -20.9881365124849,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            206.58011232790284,
+            -22.4881365124849,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            203.98203611654952,
+            -23.9881365124849,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            201.3839599051962,
+            -25.4881365124849,
+            150.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            201.3839599051962,
+            -25.4881365124849,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            198.3839599051962,
+            -25.4881365124849,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            195.3839599051962,
+            -25.4881365124849,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            192.3839599051962,
+            -25.4881365124849,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            189.3839599051962,
+            -25.4881365124849,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            186.3839599051962,
+            -25.4881365124849,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            183.3839599051962,
+            -25.4881365124849,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            180.3839599051962,
+            -25.4881365124849,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            177.3839599051962,
+            -25.4881365124849,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            174.3839599051962,
+            -25.4881365124849,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            171.3839599051962,
+            -25.4881365124849,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            168.3839599051962,
+            -25.4881365124849,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            165.3839599051962,
+            -25.4881365124849,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            162.3839599051962,
+            -25.4881365124849,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            159.3839599051962,
+            -25.4881365124849,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            156.3839599051962,
+            -25.4881365124849,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            153.3839599051962,
+            -25.4881365124849,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            150.3839599051962,
+            -25.4881365124849,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            147.3839599051962,
+            -25.4881365124849,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            144.3839599051962,
+            -25.4881365124849,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            141.3839599051962,
+            -25.4881365124849,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            138.3839599051962,
+            -25.4881365124849,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            135.3839599051962,
+            -25.4881365124849,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            132.3839599051962,
+            -25.4881365124849,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            129.3839599051962,
+            -25.4881365124849,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            126.3839599051962,
+            -25.4881365124849,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            123.3839599051962,
+            -25.4881365124849,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            120.3839599051962,
+            -25.4881365124849,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            117.3839599051962,
+            -25.4881365124849,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            114.3839599051962,
+            -25.4881365124849,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            111.3839599051962,
+            -25.4881365124849,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            108.3839599051962,
+            -25.4881365124849,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            105.3839599051962,
+            -25.4881365124849,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            102.3839599051962,
+            -25.4881365124849,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            99.3839599051962,
+            -25.4881365124849,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            96.3839599051962,
+            -25.4881365124849,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            93.3839599051962,
+            -25.4881365124849,
+            150.28656177480838
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            72.0,
+            -36.0,
+            146.253
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_long/2025-1-11_11-20-11_213952386/pose.jsonl b/Image/env_airsim_gz/astar_data/high_long/2025-1-11_11-20-11_213952386/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d8d7abc23127cfac321548724af1caa0cf4c4dd4
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_long/2025-1-11_11-20-11_213952386/pose.jsonl
@@ -0,0 +1,704 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -403.2117983538509,
+            574.8649255631282,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -400.2117983538509,
+            574.8649255631282,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -397.2117983538509,
+            574.8649255631282,
+            150.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -397.2117983538509,
+            574.8649255631282,
+            150.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -397.2117983538509,
+            574.8649255631282,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -395.7117983538509,
+            577.4630017744814,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -394.2117983538509,
+            580.0610779858348,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -392.7117983538509,
+            582.6591541971882,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -391.2117983538509,
+            585.2572304085415,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -389.7117983538509,
+            587.8553066198949,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -388.2117983538509,
+            590.4533828312483,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -386.7117983538509,
+            593.0514590426017,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -385.2117983538509,
+            595.649535253955,
+            150.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -385.2117983538509,
+            595.649535253955,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -385.2117983538509,
+            598.649535253955,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -385.2117983538509,
+            601.649535253955,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -385.2117983538509,
+            604.649535253955,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -385.2117983538509,
+            607.649535253955,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -385.2117983538509,
+            610.649535253955,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -385.2117983538509,
+            613.649535253955,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -385.2117983538509,
+            616.649535253955,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -385.2117983538509,
+            619.649535253955,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -385.2117983538509,
+            622.649535253955,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -385.2117983538509,
+            625.649535253955,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -385.2117983538509,
+            628.649535253955,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -385.2117983538509,
+            631.649535253955,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -385.2117983538509,
+            634.649535253955,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -385.2117983538509,
+            637.649535253955,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -385.2117983538509,
+            640.649535253955,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -385.2117983538509,
+            643.649535253955,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -385.2117983538509,
+            646.649535253955,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -385.2117983538509,
+            649.649535253955,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -385.2117983538509,
+            652.649535253955,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -385.2117983538509,
+            655.649535253955,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -385.2117983538509,
+            658.649535253955,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -385.2117983538509,
+            661.649535253955,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -385.2117983538509,
+            664.649535253955,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -385.2117983538509,
+            667.649535253955,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -385.2117983538509,
+            670.649535253955,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -385.2117983538509,
+            673.649535253955,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -385.2117983538509,
+            676.649535253955,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -385.2117983538509,
+            679.649535253955,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -385.2117983538509,
+            682.649535253955,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -385.2117983538509,
+            685.649535253955,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -385.2117983538509,
+            688.649535253955,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -385.2117983538509,
+            691.649535253955,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -385.2117983538509,
+            694.649535253955,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -385.2117983538509,
+            697.649535253955,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -385.2117983538509,
+            700.649535253955,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -385.2117983538509,
+            703.649535253955,
+            150.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -385.2117983538509,
+            703.649535253955,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -386.7117983538509,
+            706.2476114653084,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -388.2117983538509,
+            708.8456876766618,
+            150.28656177480838
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -388.0,
+            736.0,
+            158.404
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_long/2025-1-11_11-44-19_1561812722/pose.jsonl b/Image/env_airsim_gz/astar_data/high_long/2025-1-11_11-44-19_1561812722/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..940b327943ee3426badfcbdacb47e7a7d7d8aef4
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_long/2025-1-11_11-44-19_1561812722/pose.jsonl
@@ -0,0 +1,665 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -673.7538465735571,
+            -285.2580484337107,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -673.7538465735571,
+            -282.2580484337107,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -673.7538465735571,
+            -279.2580484337107,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -673.7538465735571,
+            -276.2580484337107,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -673.7538465735571,
+            -273.2580484337107,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -673.7538465735571,
+            -270.2580484337107,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -673.7538465735571,
+            -267.2580484337107,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -673.7538465735571,
+            -264.2580484337107,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -673.7538465735571,
+            -261.2580484337107,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -673.7538465735571,
+            -258.2580484337107,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -673.7538465735571,
+            -255.2580484337107,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -673.7538465735571,
+            -252.2580484337107,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -673.7538465735571,
+            -249.2580484337107,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -673.7538465735571,
+            -246.2580484337107,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -673.7538465735571,
+            -243.2580484337107,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -673.7538465735571,
+            -240.2580484337107,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -673.7538465735571,
+            -237.2580484337107,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -673.7538465735571,
+            -234.2580484337107,
+            150.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -673.7538465735571,
+            -234.2580484337107,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -672.2538465735571,
+            -231.6599722223574,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -670.7538465735571,
+            -229.06189601100408,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -669.2538465735571,
+            -226.46381979965076,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -667.7538465735571,
+            -223.86574358829745,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -666.2538465735571,
+            -221.26766737694413,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -664.7538465735571,
+            -218.66959116559082,
+            150.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -664.7538465735571,
+            -218.66959116559082,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -664.7538465735571,
+            -215.66959116559082,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -664.7538465735571,
+            -212.66959116559082,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -664.7538465735571,
+            -209.66959116559082,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -664.7538465735571,
+            -206.66959116559082,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -664.7538465735571,
+            -203.66959116559082,
+            150.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -664.7538465735571,
+            -203.66959116559082,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -666.2538465735571,
+            -201.0715149542375,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -667.7538465735571,
+            -198.47343874288418,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -669.2538465735571,
+            -195.87536253153087,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -670.7538465735571,
+            -193.27728632017755,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -672.2538465735571,
+            -190.67921010882424,
+            150.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -672.2538465735571,
+            -190.67921010882424,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -674.8519227849104,
+            -189.17921010882424,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -677.4499989962637,
+            -187.67921010882424,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -680.0480752076171,
+            -186.17921010882424,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -682.6461514189705,
+            -184.67921010882424,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -685.2442276303238,
+            -183.17921010882424,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -687.8423038416772,
+            -181.67921010882424,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -690.4403800530306,
+            -180.17921010882424,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -693.038456264384,
+            -178.67921010882424,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -695.6365324757373,
+            -177.17921010882424,
+            150.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -695.6365324757373,
+            -177.17921010882424,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -697.1365324757373,
+            -174.58113389747092,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -698.6365324757373,
+            -171.9830576861176,
+            150.28656177480838
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -708.0,
+            -136.0,
+            147.579
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_long/2025-1-11_13-4-18_724025165/pose.jsonl b/Image/env_airsim_gz/astar_data/high_long/2025-1-11_13-4-18_724025165/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6234d086a6e6783b83373984a2e3be6a5e5978b9
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_long/2025-1-11_13-4-18_724025165/pose.jsonl
@@ -0,0 +1,548 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -312.15559172533347,
+            887.8047509103519,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -313.65559172533347,
+            885.2066746989985,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -315.15559172533347,
+            882.6085984876452,
+            150.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -315.15559172533347,
+            882.6085984876452,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -315.15559172533347,
+            879.6085984876452,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -315.15559172533347,
+            876.6085984876452,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -315.15559172533347,
+            873.6085984876452,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -315.15559172533347,
+            870.6085984876452,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -315.15559172533347,
+            867.6085984876452,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -315.15559172533347,
+            864.6085984876452,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -315.15559172533347,
+            861.6085984876452,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -315.15559172533347,
+            858.6085984876452,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -315.15559172533347,
+            855.6085984876452,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -315.15559172533347,
+            852.6085984876452,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -315.15559172533347,
+            849.6085984876452,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -315.15559172533347,
+            846.6085984876452,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -315.15559172533347,
+            843.6085984876452,
+            150.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -315.15559172533347,
+            843.6085984876452,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -316.65559172533347,
+            841.0105222762918,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -318.15559172533347,
+            838.4124460649384,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -319.65559172533347,
+            835.814369853585,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -321.15559172533347,
+            833.2162936422317,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -322.65559172533347,
+            830.6182174308783,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -324.15559172533347,
+            828.0201412195249,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -325.65559172533347,
+            825.4220650081716,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -327.15559172533347,
+            822.8239887968182,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -328.65559172533347,
+            820.2259125854648,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -330.15559172533347,
+            817.6278363741114,
+            150.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -330.15559172533347,
+            817.6278363741114,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -332.7536679366868,
+            816.1278363741114,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -335.3517441480401,
+            814.6278363741114,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -337.9498203593934,
+            813.1278363741114,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -340.54789657074673,
+            811.6278363741114,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -343.14597278210005,
+            810.1278363741114,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -345.74404899345336,
+            808.6278363741114,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -348.3421252048067,
+            807.1278363741114,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -350.94020141616,
+            805.6278363741114,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -353.5382776275133,
+            804.1278363741114,
+            150.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -353.5382776275133,
+            804.1278363741114,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -355.0382776275133,
+            801.5297601627581,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -356.5382776275133,
+            798.9316839514047,
+            150.28656177480838
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -388.0,
+            736.0,
+            158.404
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_long/2025-1-11_14-48-55_689442530/pose.jsonl b/Image/env_airsim_gz/astar_data/high_long/2025-1-11_14-48-55_689442530/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bdbdf614a00abc439cb6a8f2f3482bcac4688038
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_long/2025-1-11_14-48-55_689442530/pose.jsonl
@@ -0,0 +1,769 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -436.0675993289126,
+            592.1563041198821,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -433.0675993289126,
+            592.1563041198821,
+            150.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -433.0675993289126,
+            592.1563041198821,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -430.4695231175593,
+            593.6563041198821,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -427.87144690620596,
+            595.1563041198821,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -425.27337069485264,
+            596.6563041198821,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -422.67529448349933,
+            598.1563041198821,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -420.077218272146,
+            599.6563041198821,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -417.4791420607927,
+            601.1563041198821,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -414.8810658494394,
+            602.6563041198821,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -412.28298963808606,
+            604.1563041198821,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -409.68491342673275,
+            605.6563041198821,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -407.08683721537943,
+            607.1563041198821,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -404.4887610040261,
+            608.6563041198821,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -401.8906847926728,
+            610.1563041198821,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -399.2926085813195,
+            611.6563041198821,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -396.69453236996617,
+            613.1563041198821,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -394.09645615861285,
+            614.6563041198821,
+            150.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -394.09645615861285,
+            614.6563041198821,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -391.09645615861285,
+            614.6563041198821,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -388.09645615861285,
+            614.6563041198821,
+            150.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -388.09645615861285,
+            614.6563041198821,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -385.49837994725954,
+            616.1563041198821,
+            150.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -385.49837994725954,
+            616.1563041198821,
+            150.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -385.49837994725954,
+            616.1563041198821,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -385.49837994725954,
+            619.1563041198821,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -385.49837994725954,
+            622.1563041198821,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -385.49837994725954,
+            625.1563041198821,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -385.49837994725954,
+            628.1563041198821,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -385.49837994725954,
+            631.1563041198821,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -385.49837994725954,
+            634.1563041198821,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -385.49837994725954,
+            637.1563041198821,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -385.49837994725954,
+            640.1563041198821,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -385.49837994725954,
+            643.1563041198821,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -385.49837994725954,
+            646.1563041198821,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -385.49837994725954,
+            649.1563041198821,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -385.49837994725954,
+            652.1563041198821,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -385.49837994725954,
+            655.1563041198821,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -385.49837994725954,
+            658.1563041198821,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -385.49837994725954,
+            661.1563041198821,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -385.49837994725954,
+            664.1563041198821,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -385.49837994725954,
+            667.1563041198821,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -385.49837994725954,
+            670.1563041198821,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -385.49837994725954,
+            673.1563041198821,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -385.49837994725954,
+            676.1563041198821,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -385.49837994725954,
+            679.1563041198821,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -385.49837994725954,
+            682.1563041198821,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -385.49837994725954,
+            685.1563041198821,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -385.49837994725954,
+            688.1563041198821,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -385.49837994725954,
+            691.1563041198821,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -385.49837994725954,
+            694.1563041198821,
+            150.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -385.49837994725954,
+            694.1563041198821,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -386.99837994725954,
+            696.7543803312353,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -388.49837994725954,
+            699.3524565425887,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -389.99837994725954,
+            701.9505327539421,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -391.49837994725954,
+            704.5486089652954,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -392.99837994725954,
+            707.1466851766488,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -394.49837994725954,
+            709.7447613880022,
+            150.28656177480838
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -388.0,
+            736.0,
+            158.404
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_long/2025-1-11_15-3-56_838139053/pose.jsonl b/Image/env_airsim_gz/astar_data/high_long/2025-1-11_15-3-56_838139053/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..884847d27fc3a212624f822294f923d90d3a69dd
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_long/2025-1-11_15-3-56_838139053/pose.jsonl
@@ -0,0 +1,1042 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            204.53862860049136,
+            43.12415648738248,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            206.03862860049136,
+            40.52608027602916,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            207.53862860049136,
+            37.92800406467585,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            209.03862860049136,
+            35.32992785332253,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            210.53862860049136,
+            32.731851641969214,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            212.03862860049136,
+            30.1337754306159,
+            150.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            212.03862860049136,
+            30.1337754306159,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            214.63670481184468,
+            28.6337754306159,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            217.234781023198,
+            27.1337754306159,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            219.8328572345513,
+            25.6337754306159,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            222.43093344590463,
+            24.1337754306159,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            225.02900965725794,
+            22.6337754306159,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            227.62708586861126,
+            21.1337754306159,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            230.22516207996458,
+            19.6337754306159,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            232.8232382913179,
+            18.1337754306159,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            235.4213145026712,
+            16.6337754306159,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            238.01939071402452,
+            15.133775430615898,
+            150.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            238.01939071402452,
+            15.133775430615898,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            239.51939071402452,
+            12.535699219262582,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            241.01939071402452,
+            9.937623007909266,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            242.51939071402452,
+            7.33954679655595,
+            150.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            242.51939071402452,
+            7.33954679655595,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            242.51939071402452,
+            4.33954679655595,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            242.51939071402452,
+            1.3395467965559504,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            242.51939071402452,
+            -1.6604532034440496,
+            150.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            242.51939071402452,
+            -1.6604532034440496,
+            150.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            242.51939071402452,
+            -1.6604532034440496,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            239.9213145026712,
+            -3.1604532034440496,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            237.3232382913179,
+            -4.66045320344405,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            234.72516207996458,
+            -6.16045320344405,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            232.12708586861126,
+            -7.66045320344405,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            229.52900965725794,
+            -9.16045320344405,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            226.93093344590463,
+            -10.66045320344405,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            224.3328572345513,
+            -12.16045320344405,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            221.734781023198,
+            -13.66045320344405,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            219.13670481184468,
+            -15.16045320344405,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            216.53862860049136,
+            -16.66045320344405,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            213.94055238913805,
+            -18.16045320344405,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            211.34247617778473,
+            -19.66045320344405,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            208.74439996643142,
+            -21.16045320344405,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            206.1463237550781,
+            -22.66045320344405,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            203.54824754372478,
+            -24.16045320344405,
+            150.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            203.54824754372478,
+            -24.16045320344405,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            200.54824754372478,
+            -24.16045320344405,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            197.54824754372478,
+            -24.16045320344405,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            194.54824754372478,
+            -24.16045320344405,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            191.54824754372478,
+            -24.16045320344405,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            188.54824754372478,
+            -24.16045320344405,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            185.54824754372478,
+            -24.16045320344405,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            182.54824754372478,
+            -24.16045320344405,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            179.54824754372478,
+            -24.16045320344405,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            176.54824754372478,
+            -24.16045320344405,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            173.54824754372478,
+            -24.16045320344405,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            170.54824754372478,
+            -24.16045320344405,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            167.54824754372478,
+            -24.16045320344405,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            164.54824754372478,
+            -24.16045320344405,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            161.54824754372478,
+            -24.16045320344405,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            158.54824754372478,
+            -24.16045320344405,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            155.54824754372478,
+            -24.16045320344405,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            152.54824754372478,
+            -24.16045320344405,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            149.54824754372478,
+            -24.16045320344405,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            146.54824754372478,
+            -24.16045320344405,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            143.54824754372478,
+            -24.16045320344405,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            140.54824754372478,
+            -24.16045320344405,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            137.54824754372478,
+            -24.16045320344405,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            134.54824754372478,
+            -24.16045320344405,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            131.54824754372478,
+            -24.16045320344405,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            128.54824754372478,
+            -24.16045320344405,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            125.54824754372478,
+            -24.16045320344405,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            122.54824754372478,
+            -24.16045320344405,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            119.54824754372478,
+            -24.16045320344405,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            116.54824754372478,
+            -24.16045320344405,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            113.54824754372478,
+            -24.16045320344405,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            110.54824754372478,
+            -24.16045320344405,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            107.54824754372478,
+            -24.16045320344405,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            104.54824754372478,
+            -24.16045320344405,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            101.54824754372478,
+            -24.16045320344405,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            98.54824754372478,
+            -24.16045320344405,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            95.54824754372478,
+            -24.16045320344405,
+            150.28656177480838
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            72.0,
+            -36.0,
+            146.253
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_long/2025-1-11_17-4-12_495375861/pose.jsonl b/Image/env_airsim_gz/astar_data/high_long/2025-1-11_17-4-12_495375861/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..af07ccc7c7262f7f23f3342b4ef06c1678e77f1a
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_long/2025-1-11_17-4-12_495375861/pose.jsonl
@@ -0,0 +1,678 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1129.389747423917,
+            -1421.9176209772359,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1127.889747423917,
+            -1424.5156971885892,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1126.389747423917,
+            -1427.1137733999426,
+            150.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1126.389747423917,
+            -1427.1137733999426,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1123.7916712125636,
+            -1428.6137733999426,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1121.1935950012103,
+            -1430.1137733999426,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1118.595518789857,
+            -1431.6137733999426,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1115.9974425785035,
+            -1433.1137733999426,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1113.3993663671502,
+            -1434.6137733999426,
+            150.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1113.3993663671502,
+            -1434.6137733999426,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1110.3993663671502,
+            -1434.6137733999426,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1107.3993663671502,
+            -1434.6137733999426,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1104.3993663671502,
+            -1434.6137733999426,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1101.3993663671502,
+            -1434.6137733999426,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1098.3993663671502,
+            -1434.6137733999426,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1095.3993663671502,
+            -1434.6137733999426,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1092.3993663671502,
+            -1434.6137733999426,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1089.3993663671502,
+            -1434.6137733999426,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1086.3993663671502,
+            -1434.6137733999426,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1083.3993663671502,
+            -1434.6137733999426,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1080.3993663671502,
+            -1434.6137733999426,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1077.3993663671502,
+            -1434.6137733999426,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1074.3993663671502,
+            -1434.6137733999426,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1071.3993663671502,
+            -1434.6137733999426,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1068.3993663671502,
+            -1434.6137733999426,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1065.3993663671502,
+            -1434.6137733999426,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1062.3993663671502,
+            -1434.6137733999426,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1059.3993663671502,
+            -1434.6137733999426,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1056.3993663671502,
+            -1434.6137733999426,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1053.3993663671502,
+            -1434.6137733999426,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1050.3993663671502,
+            -1434.6137733999426,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1047.3993663671502,
+            -1434.6137733999426,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1044.3993663671502,
+            -1434.6137733999426,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1041.3993663671502,
+            -1434.6137733999426,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1038.3993663671502,
+            -1434.6137733999426,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1035.3993663671502,
+            -1434.6137733999426,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1032.3993663671502,
+            -1434.6137733999426,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1029.3993663671502,
+            -1434.6137733999426,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1026.3993663671502,
+            -1434.6137733999426,
+            150.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1026.3993663671502,
+            -1434.6137733999426,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1023.8012901557968,
+            -1436.1137733999426,
+            150.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1023.8012901557968,
+            -1436.1137733999426,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1022.3012901557968,
+            -1438.711849611296,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1020.8012901557968,
+            -1441.3099258226493,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1019.3012901557968,
+            -1443.9080020340027,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1017.8012901557968,
+            -1446.506078245356,
+            150.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1017.8012901557968,
+            -1446.506078245356,
+            150.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1017.8012901557968,
+            -1446.506078245356,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535897833
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1014.8012901557968,
+            -1446.506078245356,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1011.8012901557968,
+            -1446.506078245356,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            1008.8012901557968,
+            -1446.506078245356,
+            150.28656177480838
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            960.0,
+            -1456.0,
+            192.957
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_long/2025-1-11_18-37-20_81458260/pose.jsonl b/Image/env_airsim_gz/astar_data/high_long/2025-1-11_18-37-20_81458260/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..74d13dc93884077a2629a9aa88ef9fe8e9b6488b
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_long/2025-1-11_18-37-20_81458260/pose.jsonl
@@ -0,0 +1,574 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -621.7782139486202,
+            -148.74642439488704,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -620.2782139486202,
+            -146.14834818353373,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -618.7782139486202,
+            -143.5502719721804,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -617.2782139486202,
+            -140.9521957608271,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -615.7782139486202,
+            -138.35411954947378,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -614.2782139486202,
+            -135.75604333812046,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -612.7782139486202,
+            -133.15796712676715,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -611.2782139486202,
+            -130.55989091541383,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -609.7782139486202,
+            -127.96181470406052,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -608.2782139486202,
+            -125.3637384927072,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -606.7782139486202,
+            -122.76566228135388,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -605.2782139486202,
+            -120.16758607000057,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -603.7782139486202,
+            -117.56950985864725,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -602.2782139486202,
+            -114.97143364729394,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -600.7782139486202,
+            -112.37335743594062,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -599.2782139486202,
+            -109.7752812245873,
+            150.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -599.2782139486202,
+            -109.7752812245873,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -599.2782139486202,
+            -106.7752812245873,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -599.2782139486202,
+            -103.7752812245873,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -599.2782139486202,
+            -100.7752812245873,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -599.2782139486202,
+            -97.7752812245873,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -599.2782139486202,
+            -94.7752812245873,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -599.2782139486202,
+            -91.7752812245873,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -599.2782139486202,
+            -88.7752812245873,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -599.2782139486202,
+            -85.7752812245873,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -599.2782139486202,
+            -82.7752812245873,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -599.2782139486202,
+            -79.7752812245873,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -599.2782139486202,
+            -76.7752812245873,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -599.2782139486202,
+            -73.7752812245873,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -599.2782139486202,
+            -70.7752812245873,
+            150.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -599.2782139486202,
+            -70.7752812245873,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -597.7782139486202,
+            -68.17720501323399,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -596.2782139486202,
+            -65.57912880188067,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -594.7782139486202,
+            -62.981052590527355,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -593.2782139486202,
+            -60.38297637917404,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -591.7782139486202,
+            -57.78490016782072,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -590.2782139486202,
+            -55.18682395646741,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -588.7782139486202,
+            -52.58874774511409,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -587.2782139486202,
+            -49.990671533760775,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -585.7782139486202,
+            -47.39259532240746,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -584.2782139486202,
+            -44.79451911105414,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -582.7782139486202,
+            -42.19644289970083,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -581.2782139486202,
+            -39.59836668834751,
+            150.28656177480838
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -568.0,
+            -4.0,
+            139.561
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_long/2025-1-11_18-45-9_2138078721/pose.jsonl b/Image/env_airsim_gz/astar_data/high_long/2025-1-11_18-45-9_2138078721/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d81b3ee5f794f0064ee0d43a4c738d1594ea4ddf
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_long/2025-1-11_18-45-9_2138078721/pose.jsonl
@@ -0,0 +1,678 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -119.92845987422632,
+            647.9999360980459,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -116.92845987422632,
+            647.9999360980459,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -113.92845987422632,
+            647.9999360980459,
+            150.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -113.92845987422632,
+            647.9999360980459,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -111.330383662873,
+            649.4999360980459,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -108.73230745151969,
+            650.9999360980459,
+            150.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -108.73230745151969,
+            650.9999360980459,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -107.23230745151969,
+            653.5980123093991,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -105.73230745151969,
+            656.1960885207525,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -104.23230745151969,
+            658.7941647321059,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -102.73230745151969,
+            661.3922409434592,
+            150.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -102.73230745151969,
+            661.3922409434592,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -100.13423124016637,
+            662.8922409434592,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -97.53615502881306,
+            664.3922409434592,
+            150.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -97.53615502881306,
+            664.3922409434592,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -94.53615502881306,
+            664.3922409434592,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -91.53615502881306,
+            664.3922409434592,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -88.53615502881306,
+            664.3922409434592,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -85.53615502881306,
+            664.3922409434592,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -82.53615502881306,
+            664.3922409434592,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -79.53615502881306,
+            664.3922409434592,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -76.53615502881306,
+            664.3922409434592,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -73.53615502881306,
+            664.3922409434592,
+            150.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -73.53615502881306,
+            664.3922409434592,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -70.93807881745974,
+            662.8922409434592,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -68.34000260610642,
+            661.3922409434592,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -65.74192639475311,
+            659.8922409434592,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -63.14385018339979,
+            658.3922409434592,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -60.545773972046476,
+            656.8922409434592,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -57.94769776069316,
+            655.3922409434592,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -55.349621549339844,
+            653.8922409434592,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -52.75154533798653,
+            652.3922409434592,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -50.15346912663321,
+            650.8922409434592,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -47.555392915279896,
+            649.3922409434592,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -44.95731670392658,
+            647.8922409434592,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -42.359240492573264,
+            646.3922409434592,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -39.76116428121995,
+            644.8922409434592,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -37.16308806986663,
+            643.3922409434592,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -34.565011858513316,
+            641.8922409434592,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -31.96693564716,
+            640.3922409434592,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -29.368859435806684,
+            638.8922409434592,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -26.770783224453368,
+            637.3922409434592,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -24.17270701310005,
+            635.8922409434592,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -21.574630801746736,
+            634.3922409434592,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -18.97655459039342,
+            632.8922409434592,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -16.378478379040104,
+            631.3922409434592,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -13.780402167686788,
+            629.8922409434592,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -11.182325956333472,
+            628.3922409434592,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -8.584249744980156,
+            626.8922409434592,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -5.98617353362684,
+            625.3922409434592,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -3.3880973222735236,
+            623.8922409434592,
+            150.28656177480838
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            52.0,
+            616.0,
+            138.276
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_long/2025-1-11_18-55-24_1564739221/pose.jsonl b/Image/env_airsim_gz/astar_data/high_long/2025-1-11_18-55-24_1564739221/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6765bb409c0022cdb9ed2ff7240e8b605a8ad286
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_long/2025-1-11_18-55-24_1564739221/pose.jsonl
@@ -0,0 +1,730 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -157.77372822320024,
+            -93.86080543780301,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -155.17565201184692,
+            -92.36080543780301,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -152.5775758004936,
+            -90.86080543780301,
+            150.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -152.5775758004936,
+            -90.86080543780301,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -151.0775758004936,
+            -88.2627292264497,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -149.5775758004936,
+            -85.66465301509638,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -148.0775758004936,
+            -83.06657680374306,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -146.5775758004936,
+            -80.46850059238974,
+            150.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -146.5775758004936,
+            -80.46850059238974,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -143.9794995891403,
+            -78.96850059238974,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -141.38142337778697,
+            -77.46850059238974,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -138.78334716643366,
+            -75.96850059238974,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -136.18527095508034,
+            -74.46850059238974,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -133.58719474372703,
+            -72.96850059238974,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -130.9891185323737,
+            -71.46850059238974,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -128.3910423210204,
+            -69.96850059238974,
+            150.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -128.3910423210204,
+            -69.96850059238974,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -125.3910423210204,
+            -69.96850059238974,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -122.3910423210204,
+            -69.96850059238974,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -119.3910423210204,
+            -69.96850059238974,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -116.3910423210204,
+            -69.96850059238974,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -113.3910423210204,
+            -69.96850059238974,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -110.3910423210204,
+            -69.96850059238974,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -107.3910423210204,
+            -69.96850059238974,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -104.3910423210204,
+            -69.96850059238974,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -101.3910423210204,
+            -69.96850059238974,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -98.3910423210204,
+            -69.96850059238974,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -95.3910423210204,
+            -69.96850059238974,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -92.3910423210204,
+            -69.96850059238974,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -89.3910423210204,
+            -69.96850059238974,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -86.3910423210204,
+            -69.96850059238974,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -83.3910423210204,
+            -69.96850059238974,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -80.3910423210204,
+            -69.96850059238974,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -77.3910423210204,
+            -69.96850059238974,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -74.3910423210204,
+            -69.96850059238974,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -71.3910423210204,
+            -69.96850059238974,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -68.3910423210204,
+            -69.96850059238974,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -65.3910423210204,
+            -69.96850059238974,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -62.39104232102039,
+            -69.96850059238974,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -59.39104232102039,
+            -69.96850059238974,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -56.39104232102039,
+            -69.96850059238974,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -53.39104232102039,
+            -69.96850059238974,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -50.39104232102039,
+            -69.96850059238974,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -47.39104232102039,
+            -69.96850059238974,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -44.39104232102039,
+            -69.96850059238974,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -41.39104232102039,
+            -69.96850059238974,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -38.39104232102039,
+            -69.96850059238974,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -35.39104232102039,
+            -69.96850059238974,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -32.39104232102039,
+            -69.96850059238974,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -29.391042321020393,
+            -69.96850059238974,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -26.391042321020393,
+            -69.96850059238974,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -23.391042321020393,
+            -69.96850059238974,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -20.391042321020393,
+            -69.96850059238974,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -17.391042321020393,
+            -69.96850059238974,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -14.391042321020393,
+            -69.96850059238974,
+            150.28656177480838
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            8.0,
+            -68.0,
+            154.054
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_long/2025-1-11_19-1-25_1992055382/pose.jsonl b/Image/env_airsim_gz/astar_data/high_long/2025-1-11_19-1-25_1992055382/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1e1318809c712905982cf0bafab67db15e016a74
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_long/2025-1-11_19-1-25_1992055382/pose.jsonl
@@ -0,0 +1,704 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            927.3420894618856,
+            -1484.0010054960237,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            930.3420894618856,
+            -1484.0010054960237,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            933.3420894618856,
+            -1484.0010054960237,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            936.3420894618856,
+            -1484.0010054960237,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            939.3420894618856,
+            -1484.0010054960237,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            942.3420894618856,
+            -1484.0010054960237,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            945.3420894618856,
+            -1484.0010054960237,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            948.3420894618856,
+            -1484.0010054960237,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            951.3420894618856,
+            -1484.0010054960237,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            954.3420894618856,
+            -1484.0010054960237,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            957.3420894618856,
+            -1484.0010054960237,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            960.3420894618856,
+            -1484.0010054960237,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            963.3420894618856,
+            -1484.0010054960237,
+            150.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            963.3420894618856,
+            -1484.0010054960237,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            965.9401656732389,
+            -1485.5010054960237,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            968.5382418845923,
+            -1487.0010054960237,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            971.1363180959456,
+            -1488.5010054960237,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            973.734394307299,
+            -1490.0010054960237,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            976.3324705186524,
+            -1491.5010054960237,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            978.9305467300057,
+            -1493.0010054960237,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            981.5286229413591,
+            -1494.5010054960237,
+            150.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            981.5286229413591,
+            -1494.5010054960237,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 9.43689570931383e-15
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            984.5286229413591,
+            -1494.5010054960237,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            987.5286229413591,
+            -1494.5010054960237,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            990.5286229413591,
+            -1494.5010054960237,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            993.5286229413591,
+            -1494.5010054960237,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            996.5286229413591,
+            -1494.5010054960237,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            999.5286229413591,
+            -1494.5010054960237,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1002.5286229413591,
+            -1494.5010054960237,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1005.5286229413591,
+            -1494.5010054960237,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1008.5286229413591,
+            -1494.5010054960237,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1011.5286229413591,
+            -1494.5010054960237,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1014.5286229413591,
+            -1494.5010054960237,
+            150.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1014.5286229413591,
+            -1494.5010054960237,
+            150.28656177480838
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1014.5286229413591,
+            -1494.5010054960237,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1016.0286229413591,
+            -1491.9029292846703,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1017.5286229413591,
+            -1489.304853073317,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1019.0286229413591,
+            -1486.7067768619636,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1020.5286229413591,
+            -1484.1087006506102,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1022.0286229413591,
+            -1481.5106244392568,
+            150.28656177480838
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1022.0286229413591,
+            -1481.5106244392568,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1024.6266991527125,
+            -1480.0106244392568,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1027.2247753640659,
+            -1478.5106244392568,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1029.8228515754192,
+            -1477.0106244392568,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1032.4209277867726,
+            -1475.5106244392568,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1035.019003998126,
+            -1474.0106244392568,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1037.6170802094794,
+            -1472.5106244392568,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1040.2151564208327,
+            -1471.0106244392568,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1042.813232632186,
+            -1469.5106244392568,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1045.4113088435395,
+            -1468.0106244392568,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            1048.0093850548928,
+            -1466.5106244392568,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            1050.6074612662462,
+            -1465.0106244392568,
+            150.28656177480838
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            1053.2055374775996,
+            -1463.5106244392568,
+            150.28656177480838
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1092.0,
+            -1460.0,
+            192.956
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_long/2025-1-11_2-13-18_2077211388/20250111_021345_47.png b/Image/env_airsim_gz/astar_data/high_long/2025-1-11_2-13-18_2077211388/20250111_021345_47.png
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222426.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222426.png
new file mode 100644
index 0000000000000000000000000000000000000000..6c46654938e6ddfc5cd7420278141c5389e27034
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222426.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14c59175ff0f3c45fb2d2639fd9eec008bb5ce346e27e50f3cbf0998e198bc57
+size 811047
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222429.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222429.png
new file mode 100644
index 0000000000000000000000000000000000000000..ef5b852100078d9158fb30e2685619aba735e36e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222429.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad0a974f265411cc110c24d5c1ec33971aab72fe50685d6600be9bce458d5a96
+size 782013
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222431.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222431.png
new file mode 100644
index 0000000000000000000000000000000000000000..282c765b4f874a2ae8ac149dde75b2eb13133ae4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222431.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3d0221d95e21320f5bbb515a0148ba905fe517fcab6444c972f10559824725b
+size 722985
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222433.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222433.png
new file mode 100644
index 0000000000000000000000000000000000000000..e7eaa00be47b5b3786205e86eb0d85b19352a7b0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222433.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d64975f9d9c0092282cf240dff1f2003925fe34410e26a3c5d602c3c3064424
+size 685439
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222435.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222435.png
new file mode 100644
index 0000000000000000000000000000000000000000..fa0089795aa5031a6a92994fbc4cb5e96691ef63
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222435.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b90e2c986961df96096de54cc6666df43b8029223eb6b176b40e721a76840d7b
+size 659893
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222438.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222438.png
new file mode 100644
index 0000000000000000000000000000000000000000..556fe88802c5a58fa9ac80e155ecfa7c1a464fb8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222438.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56fd6e93572e05d06394130b9ddabe2ee80ed9a44e824ef0914ead7536444a88
+size 645643
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222440.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222440.png
new file mode 100644
index 0000000000000000000000000000000000000000..7399cfdf6f8dca734556052975a16c13f2103e78
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222440.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:941929a4041e2a706908ff27d530dc780c8d20ba1a68c9c9ca2b88a2ccae2966
+size 630662
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222442.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222442.png
new file mode 100644
index 0000000000000000000000000000000000000000..bf20b08b427b604bbaac267ac62273259cdfed83
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222442.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3769686afc9f1d6d15f7a1516b076b3770a2cea446b378b1f467b9f9f18cb214
+size 618636
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222444.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222444.png
new file mode 100644
index 0000000000000000000000000000000000000000..f1cb1337009f4a48932b7fefffbfc344c7d4b255
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222444.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe8a8c7ffc424568ea7c9c829711694a4caabb55bbda934fe6442537bde19490
+size 614095
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222446.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222446.png
new file mode 100644
index 0000000000000000000000000000000000000000..7b8d9279a8f007e3412d2f3dd54ccae4dc6a49de
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222446.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e459e59dc45af34c6855bc879588f66d6f00796b924f3d925904c443980139d
+size 610184
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222449.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222449.png
new file mode 100644
index 0000000000000000000000000000000000000000..f00262938020db4d5e4b53eb82946b36f9e5d828
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222449.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68328b31cfa230c7ddf54f2307d85207805437acfb033b4fbcd4ed7bf3579b9a
+size 612297
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222451.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222451.png
new file mode 100644
index 0000000000000000000000000000000000000000..a363b5ba4b7e9dba7e9233b78711f0c8aa51e479
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222451.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1976929ae2b3aad046ac7c3203f46f77c8977b59ed47972567967fb0b1908f81
+size 613771
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222453.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222453.png
new file mode 100644
index 0000000000000000000000000000000000000000..b52ee5fc75185d69700fc1e98af7a8edeb9b1400
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222453.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d22088ee01ae6629953ddd470739b3788a74b7da0a98a4a283a30191bcd4bc5f
+size 619538
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222455.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222455.png
new file mode 100644
index 0000000000000000000000000000000000000000..91fe1f4d9566b8890a354f523806dff89a2eeaef
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222455.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6c137137201d7ff328b889be68d33d9f50b88895e66ca9dc7ba75f04ea19f20
+size 627292
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222458.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222458.png
new file mode 100644
index 0000000000000000000000000000000000000000..97f70c2277dc244d40cfe6c7458f117c19c0438f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222458.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68752b1b50ae637ee735afef36d60e958ff9fed4ccc7f8116adeabe0e78eda22
+size 637177
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222500.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222500.png
new file mode 100644
index 0000000000000000000000000000000000000000..7e1ab67968a78d1ff96de84a0d37d1ede258eb9c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222500.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af1d22ee0a63f961ff519b08e80a7ed325534adb33ca61cd232e2f6dafd38018
+size 647856
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222502.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222502.png
new file mode 100644
index 0000000000000000000000000000000000000000..db7211341ed0afa83c2204bb7ac2d28f06ad761e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222502.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c038407c7f793356a5962385a90345f7579f17ee37b44d1f2dbf291cc7066471
+size 656890
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222504.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222504.png
new file mode 100644
index 0000000000000000000000000000000000000000..b9d70f8d79419671acc253c23608e4e525fec03e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222504.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59b2ea9c0797552d65ab9d1b95860412f9af86742991168d913aaace25ae205f
+size 669158
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222506.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222506.png
new file mode 100644
index 0000000000000000000000000000000000000000..c561db23b87e811760c2a20f8611794d413b5159
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222506.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:377b2f67a964de62357b0994a206c4e30857a3b0630f8300b22a62057d74aa53
+size 679194
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222508.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222508.png
new file mode 100644
index 0000000000000000000000000000000000000000..bdbf28a32798a3b28acd1351116eb11b6a5ef72e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222508.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:378d7bc2863d325621dbffeba302689bb839ca1c9ca2a2b1246ac205f49dfbce
+size 671402
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222511.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222511.png
new file mode 100644
index 0000000000000000000000000000000000000000..53912ec5175a601fafc1082e214e8aceaa3ac62e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222511.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62d47490a1ab67580f8415a742887380f59057179037bbdb808bd8560b31191e
+size 671022
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222513.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222513.png
new file mode 100644
index 0000000000000000000000000000000000000000..91c452ae65892ab7fc6281134d91508f2d68d849
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222513.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3f48542781fb740f717e3b70ea51e676f25bf50f929df29aca8d8f54f6fb0db
+size 671177
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222515.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222515.png
new file mode 100644
index 0000000000000000000000000000000000000000..d685c00130eb18fa2d2a53202561062312a54f27
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222515.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ed22387f6d314966298fd6458b4bfd727badac0ca598b0043cbfbc7f4e472a6
+size 670073
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222517.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222517.png
new file mode 100644
index 0000000000000000000000000000000000000000..e2dd1dae72b412e087330bfd65002e6f10149c2e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222517.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37be02f5652ff19661493ccb44091de5bd3242f09922b8b6dda9b7a14e379320
+size 669224
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222519.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222519.png
new file mode 100644
index 0000000000000000000000000000000000000000..a3754409b4e49507052d23cd18fb513cd96bf9a1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222519.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:192e12fe04d068a89b079b8c3d108cef5357e8832a5768bb5d8719ff574d9cd2
+size 668055
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222522.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222522.png
new file mode 100644
index 0000000000000000000000000000000000000000..64f8883f7cf4e4d6fead18f4f2ee384929ec70ee
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222522.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c31847a5b89c7742896c3377d042a0c1547784da89af2723b2c5013b8e133f41
+size 666116
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222524.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222524.png
new file mode 100644
index 0000000000000000000000000000000000000000..cdef0e54a3990d0fedaffe5d2437138c752caeb1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222524.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2fcf9fa466d13337b3e7a545cf6b0bf7f2f692fb164490436cec07e944d26e9
+size 665093
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222526.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222526.png
new file mode 100644
index 0000000000000000000000000000000000000000..41defa2865867533529df77572ae4850b3591ed4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222526.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8985456b697f86471135241570c68f86064b3b191fb2e0d041822fced051b851
+size 648862
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222528.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222528.png
new file mode 100644
index 0000000000000000000000000000000000000000..7692b559342e82b3d00b0273d335a64e3f56e73f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222528.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d735da76dee3f8bd1f7d0fcf516c92c0f42093769bccee968c84cdc5fabf4d4b
+size 646038
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222530.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222530.png
new file mode 100644
index 0000000000000000000000000000000000000000..9d808d6172e38517a1fce7350d81c862e88a5cbc
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222530.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a53e29fd023aad4527c9a53b91a8f3d3ffcb4351f27759c6794ad1f3f6b7944b
+size 643016
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222533.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222533.png
new file mode 100644
index 0000000000000000000000000000000000000000..154b441464b36cd1cd92587b0db0aa50c3360861
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222533.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8b4c0725a1e03e9eec3be62832f0d2a1dcb4ef90d6451274036985704b4fe22
+size 650680
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222535.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222535.png
new file mode 100644
index 0000000000000000000000000000000000000000..f7a50dc5217339a38b92f00bd49eec55d8306ebd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222535.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:833dbd27f02641521eb0410f50319822753acfb8687f1b499ce3a0ccb9133d39
+size 661420
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222537.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222537.png
new file mode 100644
index 0000000000000000000000000000000000000000..bfe12117a54f0b19005be0640ee25d3a9f77beee
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222537.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7e20e9d6731438f79caadf5e974bd7ba470c0136c04f5f319a8d45bb7ec7069
+size 671553
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222539.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222539.png
new file mode 100644
index 0000000000000000000000000000000000000000..f015c94d41841747776274464c8bcf62ec67d256
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222539.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7f7a44c2847a9cf0e3be39a6c2070f0b12b7503a313f8be6ce96d475040a159
+size 684761
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222541.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222541.png
new file mode 100644
index 0000000000000000000000000000000000000000..c026ebc232205a4e51382a07651820e25219486e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222541.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5af0da168129e300297be156b00761ce04298d21b1d0941fe476fb94c7765e6
+size 694281
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222544.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222544.png
new file mode 100644
index 0000000000000000000000000000000000000000..5b30512d349248077db180c542964dcd9cc2e688
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222544.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a09e478ceb24a9e1c4075bf9763348bc4454d2096960e81636ad40e530846b69
+size 701050
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222546.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222546.png
new file mode 100644
index 0000000000000000000000000000000000000000..67e86dcfeaa3594a799a9f062ca62a76d87ae083
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222546.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56d65c433ef783763f3a3bb5295024f33bdff5406dba0c4533a496962827b465
+size 688636
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222548.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222548.png
new file mode 100644
index 0000000000000000000000000000000000000000..4ec3aa4e2a700ac18336a15bbd389714d68de487
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222548.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:307c9a76ffd19beb715cdf444dbc51d5fea8e7ad36a06fb24d397f2415ada30f
+size 655558
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222550.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222550.png
new file mode 100644
index 0000000000000000000000000000000000000000..c6d0875107058e8968a8cbb7c9b6fb1d38c619b7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222550.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d8376989754fa2679d5c2aef391a22b357a6e0f01ff85117461a00a4202bfec
+size 624721
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222552.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222552.png
new file mode 100644
index 0000000000000000000000000000000000000000..e2c562f2c3528bd3e669325e9147a0ae7db05245
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222552.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abc1aa9da8c9d3706b46a1f26e88332653b27249256feb117a71b97916ae17ce
+size 612234
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222554.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222554.png
new file mode 100644
index 0000000000000000000000000000000000000000..da4f7b115549ea3021bfe9b717053c5a00247bf3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222554.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef0149cda40d18041180bda3db7cbfb66437fd2466b7765f2a80d64989f3fc2d
+size 622265
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222557.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222557.png
new file mode 100644
index 0000000000000000000000000000000000000000..b68d934847df2e439e1c4a577f5c6f75ddb04025
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222557.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ddd6f911cb726799ddb48587d8e7febc9531e37e6bf854e07d1bf222eada55e5
+size 655782
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222559.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222559.png
new file mode 100644
index 0000000000000000000000000000000000000000..e5ba6754e4015511e8ba71df87b47131c2e907c5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222559.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:380df88fd8847f4242877a7df79c3c1d01d763021cb185a4e2cb3def2a4f2867
+size 683846
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222601.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222601.png
new file mode 100644
index 0000000000000000000000000000000000000000..2d310373e5d2e97d9d5a4138677ad0eea3be61d5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222601.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1219da0841369e590ad637cb68c43f57994401a192834cecaa346667917400dc
+size 692266
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222603.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222603.png
new file mode 100644
index 0000000000000000000000000000000000000000..62dc93f351e12a00830499902c0510fcd0d57b46
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222603.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29088f274d4010681be9e9dddc9b9b4e416b6fab7844958578a6776c352a7d2a
+size 698392
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222605.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222605.png
new file mode 100644
index 0000000000000000000000000000000000000000..4acbcd273170abdf11861376c34b979bce188147
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222605.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94d4193e667a918a4760194b76f4b2d460a77de09594b95ccf3f11324f24472a
+size 708367
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222608.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222608.png
new file mode 100644
index 0000000000000000000000000000000000000000..945f9a09fe26fad259c977241373671bc7c31dde
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222608.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a404d19d45da3d242bf12debe3a4cb5f6f6de248f1110885362d42eb357e536
+size 705159
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222610.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222610.png
new file mode 100644
index 0000000000000000000000000000000000000000..ccd0c844023c45d814dc97cb72d678b760f972ba
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222610.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e98d0755548d7e4928145d4e4ad29a547271764aa157553cc63288739f8b00b4
+size 704155
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222612.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222612.png
new file mode 100644
index 0000000000000000000000000000000000000000..0d221f12b6a0b73698142cdccd6594afd6beb707
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-24-20_1469348094/20250114_222612.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b821c31fad982cb21ff0ef1887e10fca491b02b3cb967e2d28759ae6396406c0
+size 741144
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035538.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035538.png
new file mode 100644
index 0000000000000000000000000000000000000000..e7d8493401d5c3ca503a3b980e22d51e760f8385
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035538.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e39aaa8026fc9de181afb7ab9f055deef8f2b94b30807bd7b462089169b76c9
+size 858105
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035541.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035541.png
new file mode 100644
index 0000000000000000000000000000000000000000..0e5d55b1102d64d7d80d744e3be6798f43484b2b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035541.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8fa005c676cff67d19da6168a11fed15a53ce5724c14b33c0aa596668b06e49a
+size 856447
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035544.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035544.png
new file mode 100644
index 0000000000000000000000000000000000000000..7e31264053777f79454d428305c5718088196f7e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035544.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb7b35f6debef3811107406ad09297600149e66547effcd00697ffd94ed60f74
+size 877648
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035546.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035546.png
new file mode 100644
index 0000000000000000000000000000000000000000..346ce8d917605ab6bd8ebe972864fdc6c622c5c2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035546.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f803a27a411469d9b4a532c0913970eedb5dc5a69d95e9edb606f9c663814b0c
+size 872248
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035548.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035548.png
new file mode 100644
index 0000000000000000000000000000000000000000..f9af81515c48dd9589483ae3d88e6623088329ba
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035548.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8893c4a0df04fa20ea22cb4706a6edb419d945e89796bf6b1f0c8688ab72d5eb
+size 885097
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035550.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035550.png
new file mode 100644
index 0000000000000000000000000000000000000000..22625a82c5df7f228d7f37383cb21297f4c6f3ab
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035550.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9dffaef37144d6af27b90b16b8b9ba67375e6858590274121b9ae60c65839f39
+size 890369
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035553.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035553.png
new file mode 100644
index 0000000000000000000000000000000000000000..ad0658811cc55bef12d5281a8063364753f98e46
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035553.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:414442cb528ddaf874c5cb59230e20b70ada0f5f04797807d2ef764bdbe8c3b9
+size 885820
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035555.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035555.png
new file mode 100644
index 0000000000000000000000000000000000000000..c3133e6d9703d7394290a70e84ff22fcb1661c42
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035555.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:859fc7552d8dca59433e846e594b9c4b9ba41c6deaacfdf714812ed01bfbf4e7
+size 893641
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035557.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035557.png
new file mode 100644
index 0000000000000000000000000000000000000000..3d7b4118c441d492589d1201c3d8a0d3b94d6619
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035557.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d16525a095a3e38ccc73f13be1bc307eadae568e887f02ee57d4633a4d59d98c
+size 900237
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035600.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035600.png
new file mode 100644
index 0000000000000000000000000000000000000000..d44e241155ad1229a9b09d8ec7e0150bbda62bc6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035600.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8898f8ade53bcc9fc185a48cc93a44ee179f052228110504483c584db06e237
+size 899357
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035602.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035602.png
new file mode 100644
index 0000000000000000000000000000000000000000..7fc2ce1303f6bb5a7213ab6ecccc54933f5ea9f1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035602.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03a4e3c4d72b15d34589d299f1ad1200b2b16cb6886ae6a0edaccc07c182ee4c
+size 898289
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035604.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035604.png
new file mode 100644
index 0000000000000000000000000000000000000000..da402701074af4b589f93654430264ecb2fa8e60
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035604.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96c4da077e0c14968138299195e63aa0405e3a4c902f0b54b87468e73036615d
+size 899097
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035607.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035607.png
new file mode 100644
index 0000000000000000000000000000000000000000..cb198571caf0cfd858742671acc5dff584712b47
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035607.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4857df8c748dc646af82be2e044b24ff1b823fbc2e2aa82c85f119cf7ca92543
+size 899643
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035609.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035609.png
new file mode 100644
index 0000000000000000000000000000000000000000..9456b2702e1ce5634d6e677a32a4f692ac7fc942
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035609.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8853efd60e6c7fea80f1c0e98e88f3f37293386a8f4073caa529b481dae30496
+size 897343
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035611.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035611.png
new file mode 100644
index 0000000000000000000000000000000000000000..c5fb67e5819dd346e61d061272e93d3fca4c6910
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035611.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c99bad233c6b36a86348172858424377ea71f890f97dc5a3610c2287819b9d98
+size 884250
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035614.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035614.png
new file mode 100644
index 0000000000000000000000000000000000000000..392973da5ab8f002998a63cfa7f48a02b5096773
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035614.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9145f09e64c64442478e59834053a38940dac8dc46ab6621a29c9dba1b6410de
+size 867418
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035616.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035616.png
new file mode 100644
index 0000000000000000000000000000000000000000..2ef35bba064c48ff34ba79807a99c6673c66d9b1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035616.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15c18202ebe31cd5c6ddf399fd146a6f60cf07264824f639a3e6cefa41866309
+size 847533
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035618.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035618.png
new file mode 100644
index 0000000000000000000000000000000000000000..21c3fed19478580c20dc66b68531f0374d5234b0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035618.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0668603c906b82d419c6739fa0c0ea3db76f1b31773a0fa3b59ca9610e8c1216
+size 826328
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035620.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035620.png
new file mode 100644
index 0000000000000000000000000000000000000000..d300c59922ea0c7f09b6a8a4a21653376c1ac411
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035620.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbf48c812b6da906277245ec7e2dff4aeab2bba3722c5c7f5413028ae5f39ae3
+size 806684
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035623.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035623.png
new file mode 100644
index 0000000000000000000000000000000000000000..50fcc134981c9f4f02b1bc7a7979ec421c071c0f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035623.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebe1c62918b14fb4d3780e26cf709465708300b69db404a88c18d8a04672accd
+size 789503
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035625.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035625.png
new file mode 100644
index 0000000000000000000000000000000000000000..95ac1a8f87b17975c105c95e554063d4f37473bb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035625.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43a3d749175d19173506c5667f685279cdceac1dff69133601a4212a8d490123
+size 791776
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035627.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035627.png
new file mode 100644
index 0000000000000000000000000000000000000000..b2b6db19ada1ac0a2a45c9be71da3d9c0ae236ee
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035627.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb3801d2fca9ec6ee8bfc981c18062fa6aa5f41fc9cc5fee7c81098041a2e5bb
+size 794763
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035629.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035629.png
new file mode 100644
index 0000000000000000000000000000000000000000..a0ed522e0f6af1a348805e6ccb6e75895091dbee
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035629.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91aa999ff1dee0811bf666926f05e8b8da59b1ded53727f85d45b017491625ac
+size 802929
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035632.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035632.png
new file mode 100644
index 0000000000000000000000000000000000000000..a1786bb27ffb83be5cc424b79588b1a359cb4b1c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035632.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a01a0a12bc77d3fe6ec57dd908aa38921a64e0ba693176cfb4f5941e304671a2
+size 805445
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035634.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035634.png
new file mode 100644
index 0000000000000000000000000000000000000000..b3356bee11de775db09430374b9058c3d53d0ac3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035634.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aad51142ca8c933ef8366c59260bd6a97075fb85b2fc79d4c530d99f2a4d322a
+size 807958
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035636.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035636.png
new file mode 100644
index 0000000000000000000000000000000000000000..4c9eacc90304650c729f86c07ad821b6f0d43050
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035636.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69e1c6aa0ff4d2c9b8dc07a0004072f25cb3e971900d59d52d2fafdb29d38558
+size 800913
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035639.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035639.png
new file mode 100644
index 0000000000000000000000000000000000000000..11eb8c2391d9d5475422cba286739ee7445eb854
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035639.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:957fca76c5b489b380ac68944c43f7020b3e8f3825a5858ed65d8b3bc220cfce
+size 803389
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035641.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035641.png
new file mode 100644
index 0000000000000000000000000000000000000000..131e9774a30a4c978f37e1e1a49ebc0258a4443c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035641.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6161983cb748f507f932f9026231617dd7adef59d75825c5b193b4bdd2e765de
+size 801157
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035643.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035643.png
new file mode 100644
index 0000000000000000000000000000000000000000..ac9d94e26d525f260cbd13781eb83122316fcf55
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035643.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa7975c2c19e6cbdf068b3f5b558e5db79766dbd47fd04f9ed1a77d90f05bfb8
+size 806057
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035646.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035646.png
new file mode 100644
index 0000000000000000000000000000000000000000..0612e19757b1a9ee02295ad8ca9242d62d25e074
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035646.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58682f84e3c3d391bb15ad493a78021a1964167c973764412d04fb35c17403e9
+size 810125
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035648.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035648.png
new file mode 100644
index 0000000000000000000000000000000000000000..6c5526a4cf4c09b058a7c752a0554ae9975e1abf
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035648.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5dee4f0ea53547f2a5f7f4763322839561f9e1db4451ccc172b77c0974e0f4fc
+size 815383
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035650.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035650.png
new file mode 100644
index 0000000000000000000000000000000000000000..14dce18f213cc46c9d4bb4976cbcced1f9b9d0d5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035650.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d855ed5ffefffecbc660844873934910c5397d7062aee51519776cc45793a84
+size 820491
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035652.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035652.png
new file mode 100644
index 0000000000000000000000000000000000000000..f774d8bd7459e3868d3bfd75d295bc83ee8740ef
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035652.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91cabc4dd988a8c84023bd9506a46172e261864e4319ce40380ab535044831ac
+size 820435
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035655.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035655.png
new file mode 100644
index 0000000000000000000000000000000000000000..72856345c96ca948384ca95af8ebbec5723acd92
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035655.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0ec8b7af48bd8bc1a20caaab8c344cac123ec0e918cf564c2124ffeaab625fd
+size 820706
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035657.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035657.png
new file mode 100644
index 0000000000000000000000000000000000000000..305de45e296ca37975766f7036e076572687b409
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035657.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e762ccf7f4a09a2dd1bd4fd0dbab721ad625cf8e689cbc8cbb720e1acf1184dd
+size 820254
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035659.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035659.png
new file mode 100644
index 0000000000000000000000000000000000000000..68c7af822f23db1ab19d50cfa14103c4feb7b11b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035659.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d956275b3d0a463cd416e12ac8ae8b146247c3ca7b78f16475d65affaec5386
+size 824991
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035701.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035701.png
new file mode 100644
index 0000000000000000000000000000000000000000..49dae353426955537652aa2881b20851ba199df2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035701.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e995c29a0ffbe0972f85fb8976ac8c1c2dce8da421cd265261ddf40853def5a
+size 834964
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035704.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035704.png
new file mode 100644
index 0000000000000000000000000000000000000000..5cc1329b2569922819ec95e167407f2337b7f08c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035704.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d354d4eea010d56bb0f291c901f80d82d194eebc2398d77c92187cac060560b
+size 834270
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035706.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035706.png
new file mode 100644
index 0000000000000000000000000000000000000000..01b5454bfec68eb216ff8cb4a22fb90080947365
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035706.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c38ccc57a0c878ae9bbb01f7224fb6425e042a68bffc5ca87abb75c1741e19b4
+size 827847
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035708.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035708.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd7aaf3024028a1592ecc677f61910e5c52b8ae4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035708.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c4dc7558f9e18a9cdd1dd85f69473e54eb79a4b03ec527bb62ef7fdeef836ee
+size 832515
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035710.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035710.png
new file mode 100644
index 0000000000000000000000000000000000000000..75a5e99642cfbb8e3595ebf1439e0893dbe2d699
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035710.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:def23ce547567bdf38ed46e82ba54d398d7c38a4d574b7ebbaa0c95071e6831b
+size 836644
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035713.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035713.png
new file mode 100644
index 0000000000000000000000000000000000000000..48e24820d8f76d95f0346aa645fb80c9b0b0939b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035713.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c93bfe0dc6c02f7dfe1e088e42a1a50bc9564cc647e107aa3926fc4a5c9f4577
+size 834861
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035715.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035715.png
new file mode 100644
index 0000000000000000000000000000000000000000..1f35235a31e440dff6f0c1812c3b27a3697cf0c1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035715.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2574044cc38e62d7275487135a62fec6ebd5d115cf74990b51a67d2ccd3d1fbb
+size 826020
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035717.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035717.png
new file mode 100644
index 0000000000000000000000000000000000000000..d6dddd8273faf19881f41d5501361e077bab190d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035717.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:757d1afdea76fcc96c9a62a975200349c38cd3ac7a10c04c22c9b27b502def1c
+size 823034
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035720.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035720.png
new file mode 100644
index 0000000000000000000000000000000000000000..196314f9489f23e98f4e76a16fab434238c7efbf
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035720.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96c095f0d8e669cf90f719a5872e3942c4b65f20a939198ba09303bacab32ce0
+size 829775
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035722.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035722.png
new file mode 100644
index 0000000000000000000000000000000000000000..7b094c3c87c45ec1d1abc5423c58977d36adc547
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035722.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c048cbae45ad9fd0e7fd796089bb0510d414ca6c2a3eee345c265cb440fb6f2b
+size 831727
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035724.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035724.png
new file mode 100644
index 0000000000000000000000000000000000000000..25f031ab1375093c65a3e87d8da4aa5f060ec9da
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035724.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c06713356dbecb2fb2b47593104faa67329069f4ac0191a8d9c1a55d444116b
+size 834927
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035727.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035727.png
new file mode 100644
index 0000000000000000000000000000000000000000..64ab604ddc47bea4247762d9ab7a5cf9f58508bf
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035727.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:515850c7ab1a0c0f670fd1a710c3ca426b201fec001da3fe7a6a7fde996023ed
+size 833685
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035729.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035729.png
new file mode 100644
index 0000000000000000000000000000000000000000..e7200a7ede9f1993e0464d6e7c64ec1ba18197f7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035729.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:930f3fdddcfb9dd0b9ae4a1bdd74da8790f34875d6654d79c769f8cfbe291e2f
+size 827948
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035731.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035731.png
new file mode 100644
index 0000000000000000000000000000000000000000..ef6cdf6268ec1c16521b57c5a1b5adbce60b8cb9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-55-32_1850952926/20250115_035731.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8eb4513ea5d2991a35735202aa030e0e7ef3427b7208fbaf83d1be49a6d41c2
+size 851931
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043350.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043350.png
new file mode 100644
index 0000000000000000000000000000000000000000..e07949d168c081a034065c0c127c6ffc685bdc18
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043350.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9af61ca7619d1a677f466b09b234204d48a879d75badb99d0d88d1ec64db3d80
+size 909393
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043353.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043353.png
new file mode 100644
index 0000000000000000000000000000000000000000..a85ac337dcf743054a6849383c06d2bc71d2705b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043353.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bb5e31012ba5536955458320e4b27f460bebef3368e28dafef76337d992b944
+size 903495
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043355.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043355.png
new file mode 100644
index 0000000000000000000000000000000000000000..b8307f7bd51939bfad7efdb209eea979b62bfe11
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043355.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:977cb27d7db3f2457d15988e358e5d71879ff9af3888f630d2ee876fff516eec
+size 906610
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043358.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043358.png
new file mode 100644
index 0000000000000000000000000000000000000000..01caafc4060f33db3a9bac96e4f32a491efea704
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043358.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc084dde6b59cd46d88d4ff06b8a57764c4c59e18b1f9a6d4993941f966e3a52
+size 903887
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043400.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043400.png
new file mode 100644
index 0000000000000000000000000000000000000000..0f054f0c932382b6202315a1245f75705a65fdfe
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043400.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4d322b69968de570f6de8b32c0f37e87a694201632e37e45007295c229424da
+size 898533
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043402.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043402.png
new file mode 100644
index 0000000000000000000000000000000000000000..54026b4445206eb67fbbcc5ee47ceff674bf2583
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043402.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c7a5cb6bd657da0c56e1fe18393076a553b114943b96a57fc748b1a507f8948
+size 890070
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043405.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043405.png
new file mode 100644
index 0000000000000000000000000000000000000000..43916af7cff3691ce6fcd41cc877fbd1d390936d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043405.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b83cdda45857fdea967533a68b6eac49b653f2c13ebb3cfe8b88e735fd4c6ea2
+size 884013
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043407.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043407.png
new file mode 100644
index 0000000000000000000000000000000000000000..693ce41dc1f1c9eb22b3c81b08ae6acbba2f6ab4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043407.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1a8da1f0fc2b0cda68fea8559adffc5584c74ad569eefea4a0ad6d3bede2472
+size 875962
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043410.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043410.png
new file mode 100644
index 0000000000000000000000000000000000000000..c8ca331c49529ecdcbb502b0e28ba9db2dc69d94
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043410.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3595d74215e5115da9983a8898b8fb5eabcc89223da218eb0f58d5a72767c205
+size 862811
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043412.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043412.png
new file mode 100644
index 0000000000000000000000000000000000000000..ee19eec79b246c984d218c8a69a4f79efb8c3ef1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043412.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4772adf4db93d7d4e73592ee3b62faecd641e1666545c2c063e5ba1ce27205ad
+size 852416
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043414.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043414.png
new file mode 100644
index 0000000000000000000000000000000000000000..93a2a59449667847bebd5f9b4db3dcfa4ef6b4c1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043414.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f9ab8bcdee4f1016a9e8bb6c9860bfaa1d2e8c23fc11bf74acf0fcd93f77191
+size 842453
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043417.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043417.png
new file mode 100644
index 0000000000000000000000000000000000000000..299010a25a3e5eb91cbf768e6571e5929f4b6c7b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043417.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f87f6455c7109e6a81d3f12a1e11068aa3656770f94ec0b47a3be38391c2407
+size 834561
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043419.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043419.png
new file mode 100644
index 0000000000000000000000000000000000000000..5493d518a35f31d7d68c45d42fb296f47d069872
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043419.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b65d65e6910be2c7b4c1e3e9216ee9bc0d962ff3f031a0a87fb405994b9e3877
+size 826199
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043421.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043421.png
new file mode 100644
index 0000000000000000000000000000000000000000..39bcc64b90cdbe81cfc992b8120c8ef2eae1fd08
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043421.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:245dd2f06845975aed1f6d48acfcb5d6382ec3a0fc42d28923ea99b0f6d9ef38
+size 814607
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043424.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043424.png
new file mode 100644
index 0000000000000000000000000000000000000000..a7a854d18337d0a3a4c08bdf24774b40eec5f8a0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043424.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a35e0cb3bb453c951f1eb677e78cf70685edd647191ff3f0614e4ce675149b3
+size 802394
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043426.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043426.png
new file mode 100644
index 0000000000000000000000000000000000000000..23f1029ee296faa917bb115582fea3932fa7a53d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043426.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65ea2659b9e92fdc3b36e7294db4025dcc321accf9815fd949f88d25091aa9f0
+size 794285
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043428.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043428.png
new file mode 100644
index 0000000000000000000000000000000000000000..1242690478f60c49392d33ae3044983221ac410e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043428.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34a77908139206071f0cd7c59abdaa12914a4844c77bab3374896817240956a0
+size 793801
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043431.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043431.png
new file mode 100644
index 0000000000000000000000000000000000000000..8b8e03e31de6d9060f0bf45324fa57756374eb3a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043431.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41ac587209574fbf783d23b39a5148e65333476e84032303a27746a13fd8068e
+size 795957
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043433.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043433.png
new file mode 100644
index 0000000000000000000000000000000000000000..6567418a3b5aee76c6d45b2b87859faf8dcc3d44
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043433.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eab2f4c162077dc4dabfcb28a86e377ed047ddebf6cf34ce3b365681d7a61564
+size 771130
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043435.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043435.png
new file mode 100644
index 0000000000000000000000000000000000000000..edd2e8723ed1b59ede228c2941281c08ebc92aec
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043435.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c478d66692a127dd0ce7c7279832c6cc385040d3f3822e6399b77f24a4348ed
+size 765327
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043438.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043438.png
new file mode 100644
index 0000000000000000000000000000000000000000..f786e7cd65a5a2a90efdd87037bce497de9c64d4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043438.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:833b90709a557481f131fbffa6cde34e1a9205d17e4e2b4c3ae0c21e0384a669
+size 756756
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043440.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043440.png
new file mode 100644
index 0000000000000000000000000000000000000000..8997ab162ade7736264b9351cb6c04ac7737e0a3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043440.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae22b32a10aceee8156e52230a2b033e871aa9f4c04bc452844e236c608fbcb2
+size 762794
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043442.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043442.png
new file mode 100644
index 0000000000000000000000000000000000000000..d1ba46699db8972502458db10bef44827c00ae5b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043442.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fac3f637194697d6d77d6312a013489760361f4379944be954b91191a76e72f
+size 772654
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043445.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043445.png
new file mode 100644
index 0000000000000000000000000000000000000000..19792a32784c278e209b1577a0b435bf3f288167
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043445.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e631ecac8b5110a784f775c900aaeb669c82d5a2154cca6787c7f4e27354e788
+size 779890
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043447.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043447.png
new file mode 100644
index 0000000000000000000000000000000000000000..e1af1b1675104dd00becf2a842f4da3054bcd0f9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043447.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15f76a486d0b0b8e370d57abfc26bc465cde7efa838156148b2a0d7b845e0b93
+size 787747
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043449.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043449.png
new file mode 100644
index 0000000000000000000000000000000000000000..1808dc5ccef92e0e6f1c5c9f7fcbae9d7c36f684
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043449.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a488a985ad1142e40b842fadf9a64f74cd6638b3c2484ca011b7c57b6fac18af
+size 806003
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043452.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043452.png
new file mode 100644
index 0000000000000000000000000000000000000000..23ee3efa897a021d363d66b2320ebce3695a2a96
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043452.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a8c16ebc2afafdd74c4f7dfdc4dad884a6096fd9b315d94c4c2d6b447b33a23
+size 830671
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043454.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043454.png
new file mode 100644
index 0000000000000000000000000000000000000000..0cf4b636d9aab6ddd894f411444b1a94d77d6fed
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043454.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad4ff3f231d601e06c6a73ba03acd8bdfbde69a4ede7d32328d02cdba93148bb
+size 852253
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043456.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043456.png
new file mode 100644
index 0000000000000000000000000000000000000000..560bd46c74a2978a9f38637a69eb8592132f5631
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043456.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84707db809944d6a2dbc5a5c572420c5345fec5389f6b83dc40001f8bc465fb4
+size 869503
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043459.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043459.png
new file mode 100644
index 0000000000000000000000000000000000000000..98308bf7dda5194904f1e6f2abdc92a2479be174
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043459.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ba544405da4f6a67b5cb0c010ca9ba4bb0b95d23c97357be8d834b9110fea53
+size 893800
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043501.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043501.png
new file mode 100644
index 0000000000000000000000000000000000000000..22dba9fb20d19d65e6db3eafa0b7137485dc954b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043501.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7cec476917a64dd692c82fcd9bfc5cce9f6d7d6d015585224573fbe4164b8d1
+size 916684
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043504.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043504.png
new file mode 100644
index 0000000000000000000000000000000000000000..d50ecdc092787fd0fcd6a8ddbea54273264418f1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043504.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45183999fbaf54309499996ce7409f462dabf1d6195c246a8ddce6cde9cc061b
+size 928547
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043506.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043506.png
new file mode 100644
index 0000000000000000000000000000000000000000..59917b89faf77ffd240fca6e9c0a7a6ea8b41b0c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043506.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44ce48dbe8b6bbbc68934a6100af305962acef783117f6c7840b0988f40b308f
+size 933170
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043509.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043509.png
new file mode 100644
index 0000000000000000000000000000000000000000..2006d505e8f41996190ad81e83f19782ca32ffee
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043509.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f4803444dc4071c9c981a3c114c0884bd88f9d50e76751a614a1c0646aa54aa
+size 933450
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043511.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043511.png
new file mode 100644
index 0000000000000000000000000000000000000000..17e1cbaea34bb8d659e10254d6655d2eca753700
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043511.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:958d45856a44741e877ac432fa6db145eb19818e76a602946e69fef864f9d84c
+size 920435
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043513.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043513.png
new file mode 100644
index 0000000000000000000000000000000000000000..11ec4a55e4be793a5b0a26bfe42eb8fecff0c121
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-33-43_1555319301/20250115_043513.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17b0f31734bcefd57452a723dacdee80f874a914de1c5571617d974a248a6a99
+size 912314
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072413.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072413.png
new file mode 100644
index 0000000000000000000000000000000000000000..57cbee725374f5141d5c3de9441c3bbffc471e3b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072413.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96a90764e8d2d53ffddaea9249fba71723ce3bb643766bca49e797f53c552028
+size 636311
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072415.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072415.png
new file mode 100644
index 0000000000000000000000000000000000000000..c3fe151b4d598c9a497dd54c0f6b9cb4297cea07
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072415.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4f6ce3e39219b290ca2080bb460139616312841b6815a643c9d368bcf300ff4
+size 838364
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072418.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072418.png
new file mode 100644
index 0000000000000000000000000000000000000000..1740afdf238b1af199dc988d7e41831d8358ae08
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072418.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1340c2f5fcb3e7c6dbf2d84d675c9bc9b7c7526e901915eef3d1f00852209609
+size 804017
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072420.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072420.png
new file mode 100644
index 0000000000000000000000000000000000000000..f14e0b9204b65e94c82f1f138238a215790fa2d6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072420.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9b7203c51b580314cb4bf32b07b671419f67c961e5108a3a5eac102f5af7abc
+size 802923
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072422.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072422.png
new file mode 100644
index 0000000000000000000000000000000000000000..db71a682601786ef6422f4f2d5862f4207ac7a29
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072422.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2123bb28417a3a2ae6b2150e49bfd09a080e6ad31b7854a49e7a2af899a9d369
+size 821249
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072425.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072425.png
new file mode 100644
index 0000000000000000000000000000000000000000..b55378201f9bd4f8aea1f64ccddb92533589ab4a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072425.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4713df81dc15d5d255ba5355521669e46ea6e7ccf45c9581012612a64e3c3a7e
+size 836455
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072427.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072427.png
new file mode 100644
index 0000000000000000000000000000000000000000..0f3eeac3fa3362a3ded996f80262af1f96b468d5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072427.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0e5d41d9a78ffeb67af9cbeb94e76d0ecbd404d2bba3330bee4470f3f00772f
+size 841825
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072429.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072429.png
new file mode 100644
index 0000000000000000000000000000000000000000..af5c5aef064850d9cc53ca8e50bc0fae876ab290
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072429.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:436346cf37a65fe303abfb894e59c53d261adab73ba69711dfc22423b2123fb1
+size 846666
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072431.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072431.png
new file mode 100644
index 0000000000000000000000000000000000000000..c342fee6ce685742b4784cd17ad61390fdbd5c44
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072431.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:900442d753ef379e8cf0e28e38d396b7f2abda75a1a077b0fe1005c41c23874c
+size 849011
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072434.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072434.png
new file mode 100644
index 0000000000000000000000000000000000000000..532dd8592840a2624eb2dd9d60c9bb5518af3566
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072434.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8cc36a8bd087267cc5fd9b83a4a5f7951eb3b0740f54b7d648c08ff5d87bf679
+size 842487
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072436.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072436.png
new file mode 100644
index 0000000000000000000000000000000000000000..a9c3a2f8292754c548e241bf6268b0ca6c3b0a71
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072436.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78d1aaf1a0124aa70fbfb42a4854ecc96e98b44a0bd627e353a18faf51efc744
+size 839211
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072438.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072438.png
new file mode 100644
index 0000000000000000000000000000000000000000..957d8c9b62bc59a710f8fb2a2a9120a7b43a8495
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072438.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a78032ff95f8db17b493ac1eac87dc3b970852419a84cdd6101de68ea4d56031
+size 836136
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072441.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072441.png
new file mode 100644
index 0000000000000000000000000000000000000000..07da8d57d80287f6a648d9ba7efbba0f779dce5c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072441.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5273dcc48afc7c2042337cdea00c7bd54d5d05aacb7a0801c76c6e3b96c22bc7
+size 832918
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072443.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072443.png
new file mode 100644
index 0000000000000000000000000000000000000000..42664dcb47c009c7c29f4c007e0822a03ee90d85
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072443.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d5067a1158b57641b73c72c53d4f149afd6236852c9ac425db43bda67f8add0
+size 823937
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072445.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072445.png
new file mode 100644
index 0000000000000000000000000000000000000000..4227a0f6d14f6859ecc8bed45cb6bbe52cde140b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072445.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:699ea57712c720496d55ba9057a1e368cf1b76dc03af91e467bf2de3b7415b71
+size 802584
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072447.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072447.png
new file mode 100644
index 0000000000000000000000000000000000000000..10a709a531af28c060400437910ab2b42302f316
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072447.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5a3733fa50a9bf215e6a20b530f911bed24116c4772e83bfa05d5ec49a4adec
+size 802382
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072450.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072450.png
new file mode 100644
index 0000000000000000000000000000000000000000..9fcc3a07b26ec3dacf6f6d05b5e421e424c71e0f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072450.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37043be815db184bcf60e2248791cb9995f62d0236e1e70e381c69911bcc008c
+size 804424
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072452.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072452.png
new file mode 100644
index 0000000000000000000000000000000000000000..5d821d1b77369634a6e47d13f481f415df4d34bb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072452.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4f22430eb35815bf991597daf420a7f13515530750ca6b9a3c6e09a35835699
+size 797984
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072454.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072454.png
new file mode 100644
index 0000000000000000000000000000000000000000..906e5f5fb9c16e13d948c6efaa7b397ddcb22fdd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072454.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c24b186b9bb700a932c45c36a0654d4fe46908f1d5f570456d871a4a5239ad9a
+size 789432
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072456.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072456.png
new file mode 100644
index 0000000000000000000000000000000000000000..fe1776c221f28cda66a3a2ca5bc5e5f340f47788
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072456.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07a6f315435d3c656a96f51c2bed11d458b1be87fe83935d9c1856a675932fe1
+size 791261
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072459.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072459.png
new file mode 100644
index 0000000000000000000000000000000000000000..2ab36b710626ea0bf39684d892f81a8b0182e7d8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072459.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76fda41c5fd168c7d3a29fd9b86c50e7df0bd293fc3a6bf21871432d4294d3e7
+size 784967
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072501.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072501.png
new file mode 100644
index 0000000000000000000000000000000000000000..98a79dee421cadb5a79c402ff89bb92e4fe0e45b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072501.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27d14daa532a55393152ef6b327533896d69f8f9603e1d8afb13c4fc1991d31b
+size 769157
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072503.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072503.png
new file mode 100644
index 0000000000000000000000000000000000000000..d514011b8d7451d877b3f6f9ee50bf863e6ed3a0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072503.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0774f45613820fcc748cf94b4b5922c3ceb20e941e86baf5ad1d93c61570036
+size 764079
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072505.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072505.png
new file mode 100644
index 0000000000000000000000000000000000000000..88c2ecf355bf85211ea230180146021e8f9bef5b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072505.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b327f40cc512fe0d12d44ac44f2c99838933d349290ac6a2348f12d46f2bc491
+size 755241
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072508.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072508.png
new file mode 100644
index 0000000000000000000000000000000000000000..4477f4619bec22b4c141f2eb467932bb5dc539c0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072508.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b34fe3fe8e91e5c68538cf7c8219673cc5834108e5e4a4888794f7fbd52a8eb
+size 745753
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072510.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072510.png
new file mode 100644
index 0000000000000000000000000000000000000000..6cdabb479e3c56f7d2b1cce13f7be3e4d8c1ce77
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072510.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb3d62f9cd1ac1bd78ce0909571dc9eea3afda1a64bcfaaec7fba32cce7b31b8
+size 728491
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072512.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072512.png
new file mode 100644
index 0000000000000000000000000000000000000000..27c3ddd14eadc7fc1c18ead25195739719e8f7b4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072512.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c8e0429bc10817f33b07ca0e902b9cd34257b9efb6ad9ead8bf9c36fbfa043a
+size 712693
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072514.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072514.png
new file mode 100644
index 0000000000000000000000000000000000000000..b33e800c7d11828252c2b2bdd6c3a6cfbcce9e17
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072514.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f3c8a6d5658c40fae8448702775732b9a3e618b4317f502e28d4729f9bdd856
+size 692825
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072517.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072517.png
new file mode 100644
index 0000000000000000000000000000000000000000..0e1100f9ce4b85c4243bedc0d2754b421836c507
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072517.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae6d2b1fde8c58a8144fbf7a25c54328383a0ef0e61beaeaaaf60005fbb1b17b
+size 666703
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072519.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072519.png
new file mode 100644
index 0000000000000000000000000000000000000000..e36401cd1c8dac5d953b2ad2a4f175b88c60aee8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072519.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53dbc5858600c59b2f1426abd12beca44f20d688664589df7148371fb2394970
+size 635037
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072521.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072521.png
new file mode 100644
index 0000000000000000000000000000000000000000..c460f02310b89d59b2025906f9ec528eb180cb65
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072521.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:325a190c6efc2d3d3b43534202fccc8f47dcf6631277593b7a4841b4904469b0
+size 624562
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072523.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072523.png
new file mode 100644
index 0000000000000000000000000000000000000000..53e4d78027540c74bb935e56fe09a85bb315da15
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072523.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2956fd1273982c9d97bda5604397eb5613426ae6b037a1c7a7111a2d82f53579
+size 617741
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072526.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072526.png
new file mode 100644
index 0000000000000000000000000000000000000000..8b160c20d6ebd484de5ffd091422517ad56941a3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072526.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e92dbeb8d729657ec71bca1a710ec0b45ea5afa1475775b38a450ec8a7b14e2
+size 670636
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072528.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072528.png
new file mode 100644
index 0000000000000000000000000000000000000000..c60277448a92993807849661bb17a2b8a7fa2879
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072528.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b5635d88875c5e6976dc0466f248c1aa991353acfdcdae5bd492be90c701a5e
+size 666557
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072530.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072530.png
new file mode 100644
index 0000000000000000000000000000000000000000..48290a3d46ab5d307b62316a0941ae7c724ef41a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072530.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:764c38f42c3472598a2b5486ff8399f0f6470f05f187fa23e955d7fda96e3326
+size 655173
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072533.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072533.png
new file mode 100644
index 0000000000000000000000000000000000000000..56ef159407206328a2d98735856c5c2fef86ea88
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072533.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f421b7ff0aee6b3e812055607e30339ac715295243da429d1571b78c587a62ab
+size 653451
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072535.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072535.png
new file mode 100644
index 0000000000000000000000000000000000000000..389d020493612e70b685b0b4c10314f0660ff5ac
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072535.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:388c564b83bb024670e0f58bc01cdc556be0dd8b4c08c6d519555169e44135dd
+size 654738
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072537.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072537.png
new file mode 100644
index 0000000000000000000000000000000000000000..40162a930898c53e8805c5aec4c49f8836ba76bd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072537.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25d0df2993cb02fc1831bcd598b421ac8fd750d24573d0a72ebbaa6233dbc40a
+size 655178
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072539.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072539.png
new file mode 100644
index 0000000000000000000000000000000000000000..399406ffa17bb0aac355db87c3eef9eabaface7e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072539.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b3841e17a76e39b244473dba8234b4e887059d8aac9eb0fbc6dbd47e3145ebd
+size 626860
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072541.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072541.png
new file mode 100644
index 0000000000000000000000000000000000000000..e2be65a7869c26a28ff02d4823e4516d279d3ff1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072541.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c885c96c2d63ff86630f06703a185dd706df095f24c475437cb04aea07d951c4
+size 627256
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072544.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072544.png
new file mode 100644
index 0000000000000000000000000000000000000000..c6f08e87e663544182a2bb2d7c23ffa2367c8dfa
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072544.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f29e21cb8a082991d76afebda7680eaa9481d5292851df5c80c4334765f77a3a
+size 645507
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072546.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072546.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd753e7199d243400f7b261a6f9878388d568451
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072546.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b5037d51d81310f89891a60591e28d3419639eef4229e1615b8a791c17d4540
+size 728137
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072548.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072548.png
new file mode 100644
index 0000000000000000000000000000000000000000..66d05d56c22af385532ab1fc8982ef14cbe71ab4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072548.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a97ebc544ae39f7fae3b1a8b6ee2c2f0244bc43fcac562fabffba1b0625d8761
+size 716004
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072550.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072550.png
new file mode 100644
index 0000000000000000000000000000000000000000..a1cdb87b6b42b8ffdf1c51fe613a2b5faf335dd7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072550.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b52b5e4a78ee1a7d76436bb1133151df300ba3e6d7256f0a74ca31320a70179d
+size 712023
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072552.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072552.png
new file mode 100644
index 0000000000000000000000000000000000000000..767e3c80bb8975c0e17ad69ef7de03e0306385e9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072552.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d1af88cfb75b9c61f24aa2549e3859e57c0cb8558b625b22a43b147d398e248
+size 699525
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072555.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072555.png
new file mode 100644
index 0000000000000000000000000000000000000000..8ab532ed22dbbab0baa36cce3ad3dbea364fedf3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072555.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbbefeeb41a7f8120531541c0664d1582f55b71dc843bfc6428eb200601bf698
+size 684938
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072557.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072557.png
new file mode 100644
index 0000000000000000000000000000000000000000..37b43f10064e5acb8f304398fae6a2ee4622fe1d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072557.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:057bf057296eb9c6c8347ad1cbe925894440ebce86cc2093886a3a4ffe572e9d
+size 663190
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072559.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072559.png
new file mode 100644
index 0000000000000000000000000000000000000000..18e4595a30c57e58e46edf0380238f526a06ab96
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072559.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e842fe6868f500520d3c404b27f64907b10a27d10d3873a7a1009b1587a0850a
+size 652031
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072601.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072601.png
new file mode 100644
index 0000000000000000000000000000000000000000..a0380ff8742e097bebabe5bb92d3abd8b7969536
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072601.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5f844efe9b7b445a4db1967d8a5c6152ac493bf18b044e014505d57785396e9
+size 644956
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072603.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072603.png
new file mode 100644
index 0000000000000000000000000000000000000000..d5433766eeaefc7b65e2144838bf61d3ced6a371
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072603.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:857258258b418cc176a215dd9285eb2e89a575f1bc244c17c3cc2e706c8e8405
+size 657754
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072606.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072606.png
new file mode 100644
index 0000000000000000000000000000000000000000..6b081b1f3920ffe6388e58c863b6582c5bb4d6bf
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072606.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7105ee661d3245954978ee51942318adf891732f5e3e6aca9bb56edca6aea06e
+size 678979
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072608.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072608.png
new file mode 100644
index 0000000000000000000000000000000000000000..1815583b028d4ac8196c02f91fed91aec21185a5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072608.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab869aa7a8928635892a2d08ad24509049b71f389287e91cbf2f85f45a00e9db
+size 709192
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072610.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072610.png
new file mode 100644
index 0000000000000000000000000000000000000000..d8f30c1f2d5d912519438db9b49f5db9bdc0be47
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072610.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5bce5b714094df7065d87b82e5b1d4f02440e38a2aa5c8f2c4e6af30e170bff2
+size 727359
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072612.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072612.png
new file mode 100644
index 0000000000000000000000000000000000000000..df658ba3f83f0215f28d2817a77bde2489c19876
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072612.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6052b124209c6ebd92b02acc9551a05e26cc3eb45a2e38233366be0bb6351129
+size 742436
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072615.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072615.png
new file mode 100644
index 0000000000000000000000000000000000000000..24f1906feb7b49888a7ede1dd48a6734f0278a55
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072615.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:203f6968604c1820f974b28f49bd866b79afaa1798139809431658c50fde596a
+size 753527
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072617.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072617.png
new file mode 100644
index 0000000000000000000000000000000000000000..f880d1de248adaa0459dfba13e0bee3aa1f1ebda
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072617.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe60328ecbb371ec32986963c641f185f0609c0032bc003a74050b542df90580
+size 770594
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072619.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072619.png
new file mode 100644
index 0000000000000000000000000000000000000000..477e9bba64381f28f7ead84c18022fa8c26ca382
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072619.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1b30c4aa35e056c6665e7c372770a636f752f1e6c3c22ad3e16e4f6bb0385df
+size 780012
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072621.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072621.png
new file mode 100644
index 0000000000000000000000000000000000000000..0520a841da1c81269c4ec520d5d3f0885b4361a1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072621.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:670b10a2c40772edeea10c1e7f3744b00ea03ec9161c5abe90b1ea0ce9a9de79
+size 786256
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072623.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072623.png
new file mode 100644
index 0000000000000000000000000000000000000000..f16b9ca74347dbdbb681099c9b843c2044a2dd43
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072623.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbdccb0413345a7164a1939b0da6616473a67cb830e20cc0ae7e7495158ef66b
+size 782228
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072626.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072626.png
new file mode 100644
index 0000000000000000000000000000000000000000..7f6930d39ad75cd99263212fe1e12cf588ec8597
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072626.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aaf0820013f1dfa662675a1b4fdd224dbe144b2f72a649bc7082339de612b9cd
+size 782134
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072628.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072628.png
new file mode 100644
index 0000000000000000000000000000000000000000..b7c5ba22dd81a567a79c7e16a6b6bf9bae582237
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072628.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:659007759010de5b687278c7357828f33f70f4379d2af814a1bbaaaea3662444
+size 779642
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072630.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072630.png
new file mode 100644
index 0000000000000000000000000000000000000000..ac433ba7fab88040918f0baca7d8fd0561538569
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072630.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68cc815371ebf92d501c882183b06ae643da023fbb74ce77c2695e55d114af62
+size 764557
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072632.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072632.png
new file mode 100644
index 0000000000000000000000000000000000000000..161e19dbbbc880d7f2b58da73730f13adb6d995e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-24-9_1886086990/20250115_072632.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:989c19c25c0ad0756def8f03086a6d5136f480b3d85a9beecb83d198ec42e0b7
+size 561565
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_8-50-4_1472576335/20250115_085028.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_8-50-4_1472576335/20250115_085028.png
new file mode 100644
index 0000000000000000000000000000000000000000..b620ac039028d115605c62abb8a88ea3b53af0ac
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_8-50-4_1472576335/20250115_085028.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed08d7538773460f0c5acc6ac68f9d5cd6181135edeba11069b6888de7014de8
+size 770643
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_8-50-4_1472576335/20250115_085053.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_8-50-4_1472576335/20250115_085053.png
new file mode 100644
index 0000000000000000000000000000000000000000..9b8c90f0ba7f61bac28b38dd820cf8f32d25c8c6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_8-50-4_1472576335/20250115_085053.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ce9adb39a7cb6cfc51a3f10e18f09d6d4fa5d8cabd184520091a13582b59d9f
+size 757734
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_8-50-4_1472576335/20250115_085114.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_8-50-4_1472576335/20250115_085114.png
new file mode 100644
index 0000000000000000000000000000000000000000..30ff1a453d747ac5c31f1837b97243eadbc66ba9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_8-50-4_1472576335/20250115_085114.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fda4ec0941ef7a8fbfca323885055563451fae1654503888e742c381826dc30c
+size 785692
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_8-50-4_1472576335/20250115_085138.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_8-50-4_1472576335/20250115_085138.png
new file mode 100644
index 0000000000000000000000000000000000000000..b39c477d2eb2d70f436855d69e53d519aaf7dfda
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_8-50-4_1472576335/20250115_085138.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a8317a39faacc80a2ef4b7a174a1859be5e813a610980d970569b6bd65417e8
+size 699987
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015810.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015810.png
new file mode 100644
index 0000000000000000000000000000000000000000..229f05bd078d0c211800175be3053c2f8d69b170
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015810.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e34b4ce798f8545a059f9de38b4905b24a9ed014635590d65505d5f49a6beda5
+size 774492
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015812.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015812.png
new file mode 100644
index 0000000000000000000000000000000000000000..969ce7affea86e08f929bac18adcaa09f345198b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015812.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02406142f0e3d87f8ad4f072a2172f0d7e546a321ae93017dafca972a5e2c877
+size 686342
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015814.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015814.png
new file mode 100644
index 0000000000000000000000000000000000000000..f33d92062909c5146c05f3ebc11832c5cd8696af
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015814.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa865dd1b12a243f5bc5a8fdad508d4694aaa45d48d9c3f5d85b1538d60abded
+size 681289
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015816.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015816.png
new file mode 100644
index 0000000000000000000000000000000000000000..27f3ccfaaa230dbc0371ac41749005669d1fd160
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015816.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4350d95fc9b8308a74a5ad933224efe78d58ef9f897a3449c91cccd9fb9d80f4
+size 683884
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015818.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015818.png
new file mode 100644
index 0000000000000000000000000000000000000000..185a1590c7bef7f55643a2f6f033ece182d4b27c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015818.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a2c852d6c9a56e6cce277479b428d14bb58a25684b1471aac1998c43dd46259
+size 691693
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015821.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015821.png
new file mode 100644
index 0000000000000000000000000000000000000000..6111a875c2cff3309c7fe33ff4e759c41b111d2b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015821.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f96a2a9a714e574513649fa57e767077783e2e74bf630b788e52bea0de1110c0
+size 701096
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015823.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015823.png
new file mode 100644
index 0000000000000000000000000000000000000000..7c9a38138a2f262d607fac6e1132b70892b6d242
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015823.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57c16c8b7bb4b54b17c6a3b7b9bb82e243b4afab9b3519bdc70ba89d9deab122
+size 710214
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015825.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015825.png
new file mode 100644
index 0000000000000000000000000000000000000000..2b68b1eb01c39b50ba69948d9660302d51af1b37
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015825.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93bee838bde827763b781514ca37c50751a296ac0d315813c43da1baaeabbc87
+size 715224
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015827.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015827.png
new file mode 100644
index 0000000000000000000000000000000000000000..f535dcdea96c552d68d551ea874d1c31edeb8e23
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015827.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0042f3d16892781e1cab0eaba24afae5342cb28dd8b2d95e19489c3227cc3436
+size 717371
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015829.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015829.png
new file mode 100644
index 0000000000000000000000000000000000000000..30458274770c23b04ac89ce049c042def66fae7f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015829.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0008ef5315e31f3befe07f11da78434b1d00e916023b029953c5de03089766c3
+size 714855
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015831.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015831.png
new file mode 100644
index 0000000000000000000000000000000000000000..96e4cbecd5c1b86b93ff211688dba3a7e6d2d831
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015831.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:769a2f11f717ceed1694f7599789292ddea41e4ef770019751043f6bfad59a70
+size 708398
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015833.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015833.png
new file mode 100644
index 0000000000000000000000000000000000000000..6aa84d557439d9819c751cb9e9589cd48cc3fc3f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015833.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcc518b8526cf6703d18009787d2092197479c9216a9e9ac70ef4abb1e742727
+size 691615
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015835.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015835.png
new file mode 100644
index 0000000000000000000000000000000000000000..3c4661af6ba9a2c444f4955a20ff13307717007f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015835.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66a6004acfc894a57cc8559aa002e815faa61bbf039377d8bc2f1f34faec9471
+size 681818
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015837.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015837.png
new file mode 100644
index 0000000000000000000000000000000000000000..c90ad2464274c69c4856845f59ca9723de991c7e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015837.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2e11008401afb15435e4bb58a74c308049c8ab1df298042651fff136ea5f8b9
+size 677138
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015839.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015839.png
new file mode 100644
index 0000000000000000000000000000000000000000..2108ec933d3c7e6f37eed9d547e0745da454a014
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015839.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0b81008ebf3f315affe4309a54db1964907744743b9fc0c20683ea52784f33f
+size 669158
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015841.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015841.png
new file mode 100644
index 0000000000000000000000000000000000000000..bd9de8506cc825ce03f29ef64089acbf9946bbcc
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015841.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e58be8b24f172b69e5f68925db4ee6a2ad653b37dbd09b8ea3726677f18c20a
+size 669321
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015844.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015844.png
new file mode 100644
index 0000000000000000000000000000000000000000..47ac77f339f035babae86190232919d71f05693c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015844.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:888df7758c90aee091092b4e2532730edb6046589c41789763398bf080b361dc
+size 671788
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015846.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015846.png
new file mode 100644
index 0000000000000000000000000000000000000000..324a47281f07fca336a7fc29d4f94da151c3e8c2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015846.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39e2a94d2be8912caa506b598b018986acc7a6bccc7c1ce8901bab5f8143d2ec
+size 679242
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015848.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015848.png
new file mode 100644
index 0000000000000000000000000000000000000000..f4cb2035b0e80c68324e498314072d06a6589f23
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015848.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d8994e3f6de252148521caffc1eba76e8aac989072dfb6582d48acc076898d6
+size 690700
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015850.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015850.png
new file mode 100644
index 0000000000000000000000000000000000000000..2204d6fa9d5b92f571b16a7cd81d1bcdc010ac21
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015850.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a8802cc658f1b6971b5d32fea049e1744317b1e53281cf1d0cfc0007dda6f86
+size 704645
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015852.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015852.png
new file mode 100644
index 0000000000000000000000000000000000000000..2e1f982c99db3687f6e4189ed03cfe19a8e23f98
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015852.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:512509c1b81a5f1c1dcb6cf3fe00b4c6ab33cd7283ec56ed9736d2303aa4a0ef
+size 708985
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015854.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015854.png
new file mode 100644
index 0000000000000000000000000000000000000000..2e956de64069213b7052b99b53aae07f7f30ef91
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015854.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8eb37cf9e53fcd9306a2583a651965d14b9e153e8a1224b8f245142b219d5be2
+size 714722
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015857.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015857.png
new file mode 100644
index 0000000000000000000000000000000000000000..c45d1a6e3e93bdedd9800cf4f571e0e7b482e3fc
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015857.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6e53504e169222e83ceff24df3ae6b274ae792ab31e031a358d4cd72bbbc3b3
+size 711965
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015859.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015859.png
new file mode 100644
index 0000000000000000000000000000000000000000..a67d65b0d43196a1f432d006bd2b1abcd3946bfb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015859.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b9a96f132a1f7c5fc47ff0af366722a1d3db00254df07e696b7b62376783b71
+size 705657
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015901.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015901.png
new file mode 100644
index 0000000000000000000000000000000000000000..7a8134b195037fe8095256ad8626d4ff84a1197d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015901.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:050880543f60a365b4573da19116db1cef121d69e980ad1e614dc6d310cc34c1
+size 659790
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015903.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015903.png
new file mode 100644
index 0000000000000000000000000000000000000000..1384ec60aaced9860bf5e067565188b1745e9ad1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015903.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b9f40a61b2ba25d9420231ee9afcd2a7ea8b9dc56bc815dc3c6080c568835d0
+size 661820
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015905.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015905.png
new file mode 100644
index 0000000000000000000000000000000000000000..5b05df8040f915d472083920a88507775e82a439
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015905.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15a63eaffd0326786f14f3a935f1acb8eb9644be7ae7d7686051e59a2000d88d
+size 661526
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015907.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015907.png
new file mode 100644
index 0000000000000000000000000000000000000000..2585b55c60baee627799ce59a544f617ad45cb2c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015907.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d437ff72014b270641d6d6903f61901ec60cbacd9fb7dfb41613dfc9e9ccc644
+size 657480
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015909.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015909.png
new file mode 100644
index 0000000000000000000000000000000000000000..a0fa7e5e1f6f0ab8f951f46501b6439353aba80b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015909.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:881f13ff6db1c6238f56c40c6fe4fb82a9e831ee1c3e5443afff43d44904397e
+size 657629
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015911.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015911.png
new file mode 100644
index 0000000000000000000000000000000000000000..80fb1ba2470c98892c02562073732843901fcba9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015911.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b71d269dd3c7086bbb54427d32d6150242b9b3cb1068637c6c1f455502c325b1
+size 654144
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015914.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015914.png
new file mode 100644
index 0000000000000000000000000000000000000000..0a1191825b7d4369bd92c7d3f53d7d09193e970f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015914.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91f2b1abc3c686f721364629db59247231e3c6daf6a06e755545b8d2b60c52f8
+size 652228
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015916.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015916.png
new file mode 100644
index 0000000000000000000000000000000000000000..3425cfcb021e5c049b01fcbbe5d7475ec325a5bc
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015916.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c85d100a8bfa50055714acc837c985bfe40cfcaaa263ba1df46ecb13584ad02
+size 643927
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015918.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015918.png
new file mode 100644
index 0000000000000000000000000000000000000000..5133c24a222e1e8b005baef7ee87f264e08f05fd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015918.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8959b151fa7c20079b3f45c728924bf64a05ce6d0d871afbe4865fd723a06832
+size 613908
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015920.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015920.png
new file mode 100644
index 0000000000000000000000000000000000000000..b19c184b4e66151ffb394d46dc2aa011773fd744
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015920.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e4d5e8d4be4ccabd12e8c714b6b0d35f94ad2786d48806afb35a83bd05e10c2
+size 558619
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015922.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015922.png
new file mode 100644
index 0000000000000000000000000000000000000000..1923954ca75268f0056d113174fc405b214709f7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015922.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65275e6b7c79b5284de1c51d9bdad1328318b1336172ad3db043f0fd594e810b
+size 519267
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015924.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015924.png
new file mode 100644
index 0000000000000000000000000000000000000000..84f0ff1acd5c78f054d59881576a079047c5a5e9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015924.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d563719ad31cca630390a5e47ef4a6b2650094b3319400aa67e9380c4c3ab59c
+size 511627
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015926.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015926.png
new file mode 100644
index 0000000000000000000000000000000000000000..19b0b36eb8c87ab613d4a1d4afb0527010614858
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015926.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b91325f62780feb2a73609601fb1dcf648c3b1df6cdf36fbc198a62bdd7960e6
+size 541139
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015928.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015928.png
new file mode 100644
index 0000000000000000000000000000000000000000..e5678776c405b311e84edface9128a6247b2dc21
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015928.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d89e4065a548a23cde9ab4acb53fe90d4a71a0e885cda4b8104d83372220d5b5
+size 568469
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015930.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015930.png
new file mode 100644
index 0000000000000000000000000000000000000000..fb68be671230367fc373a11533cd55b4bf70f9df
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015930.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9349875d5b3f0e39b4a738b158d0340c0dce3b59db84d345ef8a0dc09f83c92
+size 580715
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015932.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015932.png
new file mode 100644
index 0000000000000000000000000000000000000000..1a87f4950e31221e641680e1a192e6058a0a934d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015932.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7627cbe3e02b217dbba42ac2e9acd6cf9779532809cf188cc90127dacf18d6bd
+size 594177
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015934.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015934.png
new file mode 100644
index 0000000000000000000000000000000000000000..e70d2a2e006394ee646226b5e66d9e54025eb3f6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015934.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9908e1b7bbf8faecc5f832bb3f6da142f5d850ef96773ae6a0408c432351ec08
+size 605449
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015936.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015936.png
new file mode 100644
index 0000000000000000000000000000000000000000..baf129dea17a7e6a172813b7e0b5b2d9a4654cce
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015936.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7297c1f8244f6e31d4ed2f0a16ef0ae1b3491c5ceaefae11a0e207465dbe2339
+size 609129
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015939.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015939.png
new file mode 100644
index 0000000000000000000000000000000000000000..b86e8775207fabd8516a7a75a88e64f1503cfd67
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015939.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f79f8386defdda3863f6077b39f582b9301ad71652fc89434e047a81d322d6cf
+size 617060
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015941.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015941.png
new file mode 100644
index 0000000000000000000000000000000000000000..622f950ce83783ef9d68e3bc49e90e900660da0c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015941.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef68619786f1fe2eb821c01c1288731629af80f52d51dbc2776b51600fcd2caf
+size 621906
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015943.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015943.png
new file mode 100644
index 0000000000000000000000000000000000000000..b1cffd1dae540eda4322819a1cf41665808b8af3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015943.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d7aa98757f0fcb06ba3aa297f0a90e81db8a8aa684e7e8fd14c1a1fde3f5faf
+size 626760
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015945.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015945.png
new file mode 100644
index 0000000000000000000000000000000000000000..750259453a20afae7416fea7687f5f454512ed76
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015945.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95e5c2eb171e72d4de0b9cee2191f96a38fc256987410282ca144e9429023653
+size 638608
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015947.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015947.png
new file mode 100644
index 0000000000000000000000000000000000000000..79b2e6615fecf7942c3c3e852fd6b5343209ff8e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015947.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad43e2665e331f1700c24fe874e57360ff7191f032a2c559a33d6fc164abe529
+size 658888
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015949.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015949.png
new file mode 100644
index 0000000000000000000000000000000000000000..1109d162ded9c041abf82a22e962192f8621d648
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-58-3_1910210050/20250116_015949.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:949d8e9ab3e0572e66632d630017baa7f96f78f5f5864903cd1ad44204e42169
+size 722998
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_2-15-57_478841551/20250116_021614.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_2-15-57_478841551/20250116_021614.png
new file mode 100644
index 0000000000000000000000000000000000000000..4ada5e2fd0bd599861652ab48dd1711082d9f318
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_2-15-57_478841551/20250116_021614.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9163a50f85e7a39fc53af999024ecad435a01482518f20de9dc43ac32c1ff8c
+size 806106
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_2-15-57_478841551/20250116_021625.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_2-15-57_478841551/20250116_021625.png
new file mode 100644
index 0000000000000000000000000000000000000000..00e5c98ba45f780e17784974925751a5329c4567
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_2-15-57_478841551/20250116_021625.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c178f3c43246cb8bd8dec9f172e17bb5ad2ead89434733b7b8eebdcf5854c067
+size 744820
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_2-15-57_478841551/20250116_021630.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_2-15-57_478841551/20250116_021630.png
new file mode 100644
index 0000000000000000000000000000000000000000..aa81a03a9f359540cecce9a8ee208da2d697befb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_2-15-57_478841551/20250116_021630.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2c15c39ac0ab2a0ab8b5dea69408ce4dbb1fe5d88dedbd431237d825bbd1e4d
+size 739968
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_2-15-57_478841551/20250116_021632.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_2-15-57_478841551/20250116_021632.png
new file mode 100644
index 0000000000000000000000000000000000000000..379150c04da0a29f3fa92d917374ef6cb4e84d23
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_2-15-57_478841551/20250116_021632.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57cba54b1fc0e780a3474dac54cacf4fb0fd68ae45471d0f370188ec63a9788b
+size 741424
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_2-15-57_478841551/20250116_021641.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_2-15-57_478841551/20250116_021641.png
new file mode 100644
index 0000000000000000000000000000000000000000..ec5d58b65eaa4f13eb23dac08278564ff2541500
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_2-15-57_478841551/20250116_021641.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8983e89f6042f9bcaf3bc981cef61616016b9ad00e41dbaa1f095c24ddcfa16
+size 735193
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_2-15-57_478841551/20250116_021708.png b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_2-15-57_478841551/20250116_021708.png
new file mode 100644
index 0000000000000000000000000000000000000000..5429ab9cebc929ce73460138ec6db035e67f96be
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_2-15-57_478841551/20250116_021708.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:adfbbc18ee30dff915c427bb22ba5197fcb843811bb146e7d2c4b661f851bbed
+size 760053