diff --git a/Image/env_airsim_sh/astar_data/low_long_updown/2025-01-19_06-31-21_957492/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long_updown/2025-01-19_06-31-21_957492/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a18e26a4c997e80ad05df83c42ef03a3097ec583
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/low_long_updown/2025-01-19_06-31-21_957492/pose.jsonl
@@ -0,0 +1,1230 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1222.4987547810329,
+            635.7560471986025,
+            24.9409175171225,
+            -2.094395102393205
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1222.4987547810329,
+            635.7560471986025,
+            27.9409175171225,
+            -2.094395102393205
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1222.4987547810329,
+            635.7560471986025,
+            30.9409175171225,
+            -2.094395102393205
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1222.4987547810329,
+            635.7560471986025,
+            33.9409175171225,
+            -2.094395102393205
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1222.4987547810329,
+            635.7560471986025,
+            36.9409175171225,
+            -2.094395102393205
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1222.4987547810329,
+            635.7560471986025,
+            39.9409175171225,
+            -2.094395102393205
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1222.4987547810329,
+            635.7560471986025,
+            42.9409175171225,
+            -2.094395102393205
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1222.4987547810329,
+            635.7560471986025,
+            45.9409175171225,
+            -2.094395102393205
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1222.4987547810329,
+            635.7560471986025,
+            48.9409175171225,
+            -2.094395102393205
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1222.4987547810329,
+            635.7560471986025,
+            51.9409175171225,
+            -2.094395102393205
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1222.4987547810329,
+            635.7560471986025,
+            54.9409175171225,
+            -2.094395102393205
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1222.4987547810329,
+            635.7560471986025,
+            57.9409175171225,
+            -2.094395102393205
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1222.4987547810329,
+            635.7560471986025,
+            60.9409175171225,
+            -2.094395102393205
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1222.4987547810329,
+            635.7560471986025,
+            63.9409175171225,
+            -2.094395102393205
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1222.4987547810329,
+            635.7560471986025,
+            66.9409175171225,
+            -2.094395102393205
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1222.4987547810329,
+            635.7560471986025,
+            69.9409175171225,
+            -2.094395102393205
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1222.4987547810329,
+            635.7560471986025,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1220.9987547810329,
+            633.1579709872492,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1219.4987547810329,
+            630.5598947758958,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1217.9987547810329,
+            627.9618185645425,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1216.4987547810329,
+            625.3637423531891,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1214.9987547810329,
+            622.7656661418357,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1213.4987547810329,
+            620.1675899304823,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1211.9987547810329,
+            617.569513719129,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1210.4987547810329,
+            614.9714375077756,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1208.9987547810329,
+            612.3733612964222,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1207.4987547810329,
+            609.7752850850688,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1205.9987547810329,
+            607.1772088737155,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1204.4987547810329,
+            604.5791326623621,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1204.4987547810329,
+            604.5791326623621,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1204.4987547810329,
+            601.5791326623621,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1204.4987547810329,
+            598.5791326623621,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1204.4987547810329,
+            595.5791326623621,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1204.4987547810329,
+            592.5791326623621,
+            72.9409175171225
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1204.4987547810329,
+            592.5791326623621,
+            69.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1204.4987547810329,
+            589.5791326623621,
+            69.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1204.4987547810329,
+            586.5791326623621,
+            69.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1204.4987547810329,
+            583.5791326623621,
+            69.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1204.4987547810329,
+            580.5791326623621,
+            69.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1204.4987547810329,
+            577.5791326623621,
+            69.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1204.4987547810329,
+            574.5791326623621,
+            69.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1204.4987547810329,
+            571.5791326623621,
+            69.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1204.4987547810329,
+            568.5791326623621,
+            69.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1204.4987547810329,
+            565.5791326623621,
+            69.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1204.4987547810329,
+            562.5791326623621,
+            69.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1204.4987547810329,
+            559.5791326623621,
+            69.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1204.4987547810329,
+            556.5791326623621,
+            69.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1204.4987547810329,
+            553.5791326623621,
+            69.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1204.4987547810329,
+            550.5791326623621,
+            69.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1204.4987547810329,
+            547.5791326623621,
+            69.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            1204.4987547810329,
+            544.5791326623621,
+            69.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            1204.4987547810329,
+            541.5791326623621,
+            69.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            1204.4987547810329,
+            538.5791326623621,
+            69.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            1204.4987547810329,
+            535.5791326623621,
+            69.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            1204.4987547810329,
+            532.5791326623621,
+            69.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            1204.4987547810329,
+            529.5791326623621,
+            69.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            1204.4987547810329,
+            526.5791326623621,
+            69.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            1204.4987547810329,
+            523.5791326623621,
+            69.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            1204.4987547810329,
+            523.5791326623621,
+            69.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            1205.9987547810329,
+            520.9810564510087,
+            69.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            1207.4987547810329,
+            518.3829802396554,
+            69.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            1208.9987547810329,
+            515.784904028302,
+            69.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            1210.4987547810329,
+            513.1868278169486,
+            69.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            1211.9987547810329,
+            510.5887516055953,
+            69.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            1213.4987547810329,
+            507.990675394242,
+            69.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            1214.9987547810329,
+            505.39259918288866,
+            69.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            1216.4987547810329,
+            502.79452297153534,
+            69.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            1217.9987547810329,
+            500.196446760182,
+            69.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            1219.4987547810329,
+            497.5983705488287,
+            69.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            1220.9987547810329,
+            495.0002943374754,
+            69.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            1222.4987547810329,
+            492.4022181261221,
+            69.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            1223.9987547810329,
+            489.80414191476876,
+            69.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            1225.4987547810329,
+            487.20606570341545,
+            69.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            1226.9987547810329,
+            484.60798949206213,
+            69.9409175171225
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            1226.9987547810329,
+            484.60798949206213,
+            72.9409175171225
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            1226.9987547810329,
+            484.60798949206213,
+            69.9409175171225,
+            -1.0471975511965979
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            1226.9987547810329,
+            484.60798949206213,
+            66.9409175171225,
+            -1.0471975511965979
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            1226.9987547810329,
+            484.60798949206213,
+            63.9409175171225,
+            -1.0471975511965979
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            1226.9987547810329,
+            484.60798949206213,
+            60.9409175171225,
+            -1.0471975511965979
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            1226.9987547810329,
+            484.60798949206213,
+            57.9409175171225,
+            -1.0471975511965979
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            1226.9987547810329,
+            484.60798949206213,
+            54.9409175171225,
+            -1.0471975511965979
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 81,
+        "pos": [
+            1226.9987547810329,
+            484.60798949206213,
+            51.9409175171225,
+            -1.0471975511965979
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 82,
+        "pos": [
+            1226.9987547810329,
+            484.60798949206213,
+            48.9409175171225,
+            -1.0471975511965979
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 83,
+        "pos": [
+            1226.9987547810329,
+            484.60798949206213,
+            45.9409175171225,
+            -1.0471975511965979
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 84,
+        "pos": [
+            1226.9987547810329,
+            484.60798949206213,
+            42.9409175171225,
+            -1.0471975511965979
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 85,
+        "pos": [
+            1226.9987547810329,
+            484.60798949206213,
+            39.9409175171225,
+            -1.0471975511965979
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 86,
+        "pos": [
+            1226.9987547810329,
+            484.60798949206213,
+            36.9409175171225,
+            -1.0471975511965979
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 87,
+        "pos": [
+            1226.9987547810329,
+            484.60798949206213,
+            33.9409175171225,
+            -1.0471975511965979
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 88,
+        "pos": [
+            1226.9987547810329,
+            484.60798949206213,
+            30.9409175171225,
+            -1.0471975511965979
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 89,
+        "pos": [
+            1226.9987547810329,
+            484.60798949206213,
+            27.9409175171225,
+            -1.0471975511965979
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 90,
+        "pos": [
+            1226.9987547810329,
+            484.60798949206213,
+            24.9409175171225,
+            -1.0471975511965979
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1228.0,
+            472.0,
+            65.9427
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/low_long_updown/2025-01-19_06-41-33_768161/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long_updown/2025-01-19_06-41-33_768161/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3d84356f82a43d7309b435af1a094cd719c0a87f
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/low_long_updown/2025-01-19_06-41-33_768161/pose.jsonl
@@ -0,0 +1,1269 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -979.9040513550852,
+            -407.4284546388009,
+            24.9409175171225,
+            2.617993877991485
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -979.9040513550852,
+            -407.4284546388009,
+            27.9409175171225,
+            2.617993877991485
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -979.9040513550852,
+            -407.4284546388009,
+            30.9409175171225,
+            2.617993877991485
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -979.9040513550852,
+            -407.4284546388009,
+            33.9409175171225,
+            2.617993877991485
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -979.9040513550852,
+            -407.4284546388009,
+            36.9409175171225,
+            2.617993877991485
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -979.9040513550852,
+            -407.4284546388009,
+            39.9409175171225,
+            2.617993877991485
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -979.9040513550852,
+            -407.4284546388009,
+            42.9409175171225,
+            2.617993877991485
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -979.9040513550852,
+            -407.4284546388009,
+            45.9409175171225,
+            2.617993877991485
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -979.9040513550852,
+            -407.4284546388009,
+            48.9409175171225,
+            2.617993877991485
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -979.9040513550852,
+            -407.4284546388009,
+            51.9409175171225,
+            2.617993877991485
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -979.9040513550852,
+            -407.4284546388009,
+            54.9409175171225,
+            2.617993877991485
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -979.9040513550852,
+            -407.4284546388009,
+            57.9409175171225,
+            2.617993877991485
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -979.9040513550852,
+            -407.4284546388009,
+            60.9409175171225,
+            2.617993877991485
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -979.9040513550852,
+            -407.4284546388009,
+            63.9409175171225,
+            2.617993877991485
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -979.9040513550852,
+            -407.4284546388009,
+            66.9409175171225,
+            2.617993877991485
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -979.9040513550852,
+            -407.4284546388009,
+            69.9409175171225,
+            2.617993877991485
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -979.9040513550852,
+            -407.4284546388009,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -982.5021275664385,
+            -405.9284546388009,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -985.1002037777919,
+            -404.4284546388009,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -987.6982799891452,
+            -402.9284546388009,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -990.2963562004986,
+            -401.4284546388009,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -992.894432411852,
+            -399.9284546388009,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -995.4925086232054,
+            -398.4284546388009,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -998.0905848345587,
+            -396.9284546388009,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1000.6886610459121,
+            -395.4284546388009,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1003.2867372572655,
+            -393.9284546388009,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1005.8848134686189,
+            -392.4284546388009,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1008.4828896799722,
+            -390.9284546388009,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1011.0809658913256,
+            -389.4284546388009,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1011.0809658913256,
+            -389.4284546388009,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1014.0809658913256,
+            -389.4284546388009,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1017.0809658913256,
+            -389.4284546388009,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1020.0809658913256,
+            -389.4284546388009,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1023.0809658913256,
+            -389.4284546388009,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1026.0809658913256,
+            -389.4284546388009,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1029.0809658913256,
+            -389.4284546388009,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1032.0809658913256,
+            -389.4284546388009,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1035.0809658913256,
+            -389.4284546388009,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1038.0809658913256,
+            -389.4284546388009,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1041.0809658913256,
+            -389.4284546388009,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -1041.0809658913256,
+            -389.4284546388009,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -1043.679042102679,
+            -387.9284546388009,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -1046.2771183140324,
+            -386.4284546388009,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -1048.8751945253857,
+            -384.9284546388009,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -1051.473270736739,
+            -383.4284546388009,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -1054.0713469480925,
+            -381.9284546388009,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -1056.6694231594458,
+            -380.4284546388009,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -1059.2674993707992,
+            -378.9284546388009,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -1061.8655755821526,
+            -377.4284546388009,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -1064.463651793506,
+            -375.9284546388009,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -1067.0617280048593,
+            -374.4284546388009,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -1069.6598042162127,
+            -372.9284546388009,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -1072.257880427566,
+            -371.4284546388009,
+            72.9409175171225
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -1072.257880427566,
+            -371.4284546388009,
+            75.9409175171225
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -1072.257880427566,
+            -371.4284546388009,
+            78.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -1072.257880427566,
+            -371.4284546388009,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -1075.257880427566,
+            -371.4284546388009,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -1078.257880427566,
+            -371.4284546388009,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            -1081.257880427566,
+            -371.4284546388009,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            -1084.257880427566,
+            -371.4284546388009,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            -1087.257880427566,
+            -371.4284546388009,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            -1090.257880427566,
+            -371.4284546388009,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            -1093.257880427566,
+            -371.4284546388009,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            -1096.257880427566,
+            -371.4284546388009,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            -1099.257880427566,
+            -371.4284546388009,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            -1102.257880427566,
+            -371.4284546388009,
+            78.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            -1102.257880427566,
+            -371.4284546388009,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            -1104.8559566389195,
+            -369.9284546388009,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            -1107.4540328502728,
+            -368.4284546388009,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            -1110.0521090616262,
+            -366.9284546388009,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            -1112.6501852729796,
+            -365.4284546388009,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            -1115.248261484333,
+            -363.9284546388009,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            -1117.8463376956863,
+            -362.4284546388009,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            -1120.4444139070397,
+            -360.9284546388009,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            -1123.042490118393,
+            -359.4284546388009,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            -1125.6405663297464,
+            -357.9284546388009,
+            78.9409175171225
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            -1125.6405663297464,
+            -357.9284546388009,
+            75.9409175171225
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            -1125.6405663297464,
+            -357.9284546388009,
+            72.9409175171225
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            -1125.6405663297464,
+            -357.9284546388009,
+            69.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            -1125.6405663297464,
+            -357.9284546388009,
+            66.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            -1125.6405663297464,
+            -357.9284546388009,
+            63.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 81,
+        "pos": [
+            -1125.6405663297464,
+            -357.9284546388009,
+            60.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 82,
+        "pos": [
+            -1125.6405663297464,
+            -357.9284546388009,
+            57.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 83,
+        "pos": [
+            -1125.6405663297464,
+            -357.9284546388009,
+            54.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 84,
+        "pos": [
+            -1125.6405663297464,
+            -357.9284546388009,
+            51.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 85,
+        "pos": [
+            -1125.6405663297464,
+            -357.9284546388009,
+            48.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 86,
+        "pos": [
+            -1125.6405663297464,
+            -357.9284546388009,
+            45.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 87,
+        "pos": [
+            -1125.6405663297464,
+            -357.9284546388009,
+            42.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 88,
+        "pos": [
+            -1125.6405663297464,
+            -357.9284546388009,
+            39.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 89,
+        "pos": [
+            -1125.6405663297464,
+            -357.9284546388009,
+            36.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 90,
+        "pos": [
+            -1125.6405663297464,
+            -357.9284546388009,
+            33.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 91,
+        "pos": [
+            -1125.6405663297464,
+            -357.9284546388009,
+            30.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 92,
+        "pos": [
+            -1125.6405663297464,
+            -357.9284546388009,
+            27.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 93,
+        "pos": [
+            -1125.6405663297464,
+            -357.9284546388009,
+            24.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1132.0,
+            -356.0,
+            72.6411
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/low_long_updown/2025-01-19_06-43-05_404683/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long_updown/2025-01-19_06-43-05_404683/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2155d80ea620794cfd642feb16b694691185040d
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/low_long_updown/2025-01-19_06-43-05_404683/pose.jsonl
@@ -0,0 +1,1152 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1449.579013921465,
+            -901.3052983563493,
+            24.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1449.579013921465,
+            -901.3052983563493,
+            27.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1449.579013921465,
+            -901.3052983563493,
+            30.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1449.579013921465,
+            -901.3052983563493,
+            33.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1449.579013921465,
+            -901.3052983563493,
+            36.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1449.579013921465,
+            -901.3052983563493,
+            39.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1449.579013921465,
+            -901.3052983563493,
+            42.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1449.579013921465,
+            -901.3052983563493,
+            45.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1449.579013921465,
+            -901.3052983563493,
+            48.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1449.579013921465,
+            -901.3052983563493,
+            51.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1449.579013921465,
+            -901.3052983563493,
+            54.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1449.579013921465,
+            -901.3052983563493,
+            57.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1449.579013921465,
+            -901.3052983563493,
+            60.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1449.579013921465,
+            -901.3052983563493,
+            63.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1449.579013921465,
+            -901.3052983563493,
+            66.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1449.579013921465,
+            -901.3052983563493,
+            69.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1449.579013921465,
+            -901.3052983563493,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1446.9809377101117,
+            -899.8052983563493,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1444.3828614987583,
+            -898.3052983563493,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1441.784785287405,
+            -896.8052983563493,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1439.1867090760516,
+            -895.3052983563493,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1436.5886328646982,
+            -893.8052983563493,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1433.9905566533448,
+            -892.3052983563493,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1431.3924804419914,
+            -890.8052983563493,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1428.794404230638,
+            -889.3052983563493,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1426.1963280192847,
+            -887.8052983563493,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1423.5982518079313,
+            -886.3052983563493,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1421.000175596578,
+            -884.8052983563493,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1418.4020993852246,
+            -883.3052983563493,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1415.8040231738712,
+            -881.8052983563493,
+            72.9409175171225
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1415.8040231738712,
+            -881.8052983563493,
+            75.9409175171225
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1415.8040231738712,
+            -881.8052983563493,
+            78.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1415.8040231738712,
+            -881.8052983563493,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1414.3040231738712,
+            -879.207222144996,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1412.8040231738712,
+            -876.6091459336426,
+            78.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1412.8040231738712,
+            -876.6091459336426,
+            78.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1412.8040231738712,
+            -876.6091459336426,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1409.8040231738712,
+            -876.6091459336426,
+            78.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1409.8040231738712,
+            -876.6091459336426,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1407.2059469625178,
+            -875.1091459336426,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1404.6078707511645,
+            -873.6091459336426,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1402.009794539811,
+            -872.1091459336426,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1399.4117183284577,
+            -870.6091459336426,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1396.8136421171043,
+            -869.1091459336426,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1394.215565905751,
+            -867.6091459336426,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1391.6174896943976,
+            -866.1091459336426,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1389.0194134830442,
+            -864.6091459336426,
+            78.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1389.0194134830442,
+            -864.6091459336426,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1387.5194134830442,
+            -862.0110697222892,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1386.0194134830442,
+            -859.4129935109358,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            1384.5194134830442,
+            -856.8149172995825,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            1383.0194134830442,
+            -854.2168410882291,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            1381.5194134830442,
+            -851.6187648768757,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535897833
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            1380.0194134830442,
+            -849.0206886655224,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            1378.5194134830442,
+            -846.422612454169,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            1377.0194134830442,
+            -843.8245362428156,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            1375.5194134830442,
+            -841.2264600314622,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            1374.0194134830442,
+            -838.6283838201089,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            1372.5194134830442,
+            -836.0303076087555,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            1371.0194134830442,
+            -833.4322313974021,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            1369.5194134830442,
+            -830.8341551860487,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            1368.0194134830442,
+            -828.2360789746954,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            1366.5194134830442,
+            -825.638002763342,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            1365.0194134830442,
+            -823.0399265519886,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            1363.5194134830442,
+            -820.4418503406353,
+            78.9409175171225
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            1363.5194134830442,
+            -820.4418503406353,
+            75.9409175171225
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            1363.5194134830442,
+            -820.4418503406353,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            1363.5194134830442,
+            -820.4418503406353,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            1363.5194134830442,
+            -817.4418503406353,
+            72.9409175171225
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            1363.5194134830442,
+            -817.4418503406353,
+            69.9409175171225,
+            1.5707963267948966
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            1363.5194134830442,
+            -817.4418503406353,
+            66.9409175171225,
+            1.5707963267948966
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            1363.5194134830442,
+            -817.4418503406353,
+            63.9409175171225,
+            1.5707963267948966
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            1363.5194134830442,
+            -817.4418503406353,
+            60.9409175171225,
+            1.5707963267948966
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            1363.5194134830442,
+            -817.4418503406353,
+            57.9409175171225,
+            1.5707963267948966
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            1363.5194134830442,
+            -817.4418503406353,
+            54.9409175171225,
+            1.5707963267948966
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            1363.5194134830442,
+            -817.4418503406353,
+            51.9409175171225,
+            1.5707963267948966
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            1363.5194134830442,
+            -817.4418503406353,
+            48.9409175171225,
+            1.5707963267948966
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            1363.5194134830442,
+            -817.4418503406353,
+            45.9409175171225,
+            1.5707963267948966
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            1363.5194134830442,
+            -817.4418503406353,
+            42.9409175171225,
+            1.5707963267948966
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            1363.5194134830442,
+            -817.4418503406353,
+            39.9409175171225,
+            1.5707963267948966
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            1363.5194134830442,
+            -817.4418503406353,
+            36.9409175171225,
+            1.5707963267948966
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 81,
+        "pos": [
+            1363.5194134830442,
+            -817.4418503406353,
+            33.9409175171225,
+            1.5707963267948966
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 82,
+        "pos": [
+            1363.5194134830442,
+            -817.4418503406353,
+            30.9409175171225,
+            1.5707963267948966
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 83,
+        "pos": [
+            1363.5194134830442,
+            -817.4418503406353,
+            27.9409175171225,
+            1.5707963267948966
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 84,
+        "pos": [
+            1363.5194134830442,
+            -817.4418503406353,
+            24.9409175171225,
+            1.5707963267948966
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1340.0,
+            -792.0,
+            84.5863
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/low_long_updown/2025-01-19_06-50-26_310254/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long_updown/2025-01-19_06-50-26_310254/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..faccefbb6e04b3e24f98b807395a2c082156f14a
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/low_long_updown/2025-01-19_06-50-26_310254/pose.jsonl
@@ -0,0 +1,1295 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1448.3388040513582,
+            665.9251468263686,
+            24.9409175171225,
+            -2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1448.3388040513582,
+            665.9251468263686,
+            27.9409175171225,
+            -2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1448.3388040513582,
+            665.9251468263686,
+            30.9409175171225,
+            -2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1448.3388040513582,
+            665.9251468263686,
+            33.9409175171225,
+            -2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1448.3388040513582,
+            665.9251468263686,
+            36.9409175171225,
+            -2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1448.3388040513582,
+            665.9251468263686,
+            39.9409175171225,
+            -2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1448.3388040513582,
+            665.9251468263686,
+            42.9409175171225,
+            -2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1448.3388040513582,
+            665.9251468263686,
+            45.9409175171225,
+            -2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1448.3388040513582,
+            665.9251468263686,
+            48.9409175171225,
+            -2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1448.3388040513582,
+            665.9251468263686,
+            51.9409175171225,
+            -2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1448.3388040513582,
+            665.9251468263686,
+            54.9409175171225,
+            -2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1448.3388040513582,
+            665.9251468263686,
+            57.9409175171225,
+            -2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1448.3388040513582,
+            665.9251468263686,
+            60.9409175171225,
+            -2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1448.3388040513582,
+            665.9251468263686,
+            63.9409175171225,
+            -2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1448.3388040513582,
+            665.9251468263686,
+            66.9409175171225,
+            -2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1448.3388040513582,
+            665.9251468263686,
+            69.9409175171225,
+            -2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1448.3388040513582,
+            665.9251468263686,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1445.7407278400049,
+            664.4251468263686,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1443.1426516286515,
+            662.9251468263686,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1440.5445754172981,
+            661.4251468263686,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1437.9464992059447,
+            659.9251468263686,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1435.3484229945914,
+            658.4251468263686,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1432.750346783238,
+            656.9251468263686,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1430.1522705718846,
+            655.4251468263686,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1427.5541943605313,
+            653.9251468263686,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1424.9561181491779,
+            652.4251468263686,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1422.3580419378245,
+            650.9251468263686,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1422.3580419378245,
+            650.9251468263686,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1419.3580419378245,
+            650.9251468263686,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1416.3580419378245,
+            650.9251468263686,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1413.3580419378245,
+            650.9251468263686,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1410.3580419378245,
+            650.9251468263686,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1407.3580419378245,
+            650.9251468263686,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1404.3580419378245,
+            650.9251468263686,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1401.3580419378245,
+            650.9251468263686,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1398.3580419378245,
+            650.9251468263686,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1395.3580419378245,
+            650.9251468263686,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1392.3580419378245,
+            650.9251468263686,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1389.3580419378245,
+            650.9251468263686,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1386.3580419378245,
+            650.9251468263686,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1383.3580419378245,
+            650.9251468263686,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1380.3580419378245,
+            650.9251468263686,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1377.3580419378245,
+            650.9251468263686,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1374.3580419378245,
+            650.9251468263686,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1371.3580419378245,
+            650.9251468263686,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1368.3580419378245,
+            650.9251468263686,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1365.3580419378245,
+            650.9251468263686,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1362.3580419378245,
+            650.9251468263686,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1359.3580419378245,
+            650.9251468263686,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1356.3580419378245,
+            650.9251468263686,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            1353.3580419378245,
+            650.9251468263686,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            1350.3580419378245,
+            650.9251468263686,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            1347.3580419378245,
+            650.9251468263686,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            1347.3580419378245,
+            650.9251468263686,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            1344.7599657264711,
+            649.4251468263686,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            1342.1618895151178,
+            647.9251468263686,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            1339.5638133037644,
+            646.4251468263686,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            1336.965737092411,
+            644.9251468263686,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            1334.3676608810576,
+            643.4251468263686,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            1331.7695846697043,
+            641.9251468263686,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            1329.171508458351,
+            640.4251468263686,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            1326.5734322469975,
+            638.9251468263686,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            1326.5734322469975,
+            638.9251468263686,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            1323.5734322469975,
+            638.9251468263686,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            1320.5734322469975,
+            638.9251468263686,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            1317.5734322469975,
+            638.9251468263686,
+            72.9409175171225
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            1317.5734322469975,
+            638.9251468263686,
+            75.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            1317.5734322469975,
+            638.9251468263686,
+            75.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            1317.5734322469975,
+            638.9251468263686,
+            75.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            1317.5734322469975,
+            638.9251468263686,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            1317.5734322469975,
+            635.9251468263686,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            1317.5734322469975,
+            632.9251468263686,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            1317.5734322469975,
+            629.9251468263686,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            1317.5734322469975,
+            626.9251468263686,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            1317.5734322469975,
+            623.9251468263686,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            1317.5734322469975,
+            620.9251468263686,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            1317.5734322469975,
+            617.9251468263686,
+            75.9409175171225
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            1317.5734322469975,
+            617.9251468263686,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            1317.5734322469975,
+            617.9251468263686,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            1316.0734322469975,
+            615.3270706150154,
+            72.9409175171225
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            1316.0734322469975,
+            615.3270706150154,
+            69.9409175171225,
+            -2.0943951023931953
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 81,
+        "pos": [
+            1316.0734322469975,
+            615.3270706150154,
+            66.9409175171225,
+            -2.0943951023931953
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 82,
+        "pos": [
+            1316.0734322469975,
+            615.3270706150154,
+            63.9409175171225,
+            -2.0943951023931953
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 83,
+        "pos": [
+            1316.0734322469975,
+            615.3270706150154,
+            60.9409175171225,
+            -2.0943951023931953
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 84,
+        "pos": [
+            1316.0734322469975,
+            615.3270706150154,
+            57.9409175171225,
+            -2.0943951023931953
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 85,
+        "pos": [
+            1316.0734322469975,
+            615.3270706150154,
+            54.9409175171225,
+            -2.0943951023931953
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 86,
+        "pos": [
+            1316.0734322469975,
+            615.3270706150154,
+            51.9409175171225,
+            -2.0943951023931953
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 87,
+        "pos": [
+            1316.0734322469975,
+            615.3270706150154,
+            48.9409175171225,
+            -2.0943951023931953
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 88,
+        "pos": [
+            1316.0734322469975,
+            615.3270706150154,
+            45.9409175171225,
+            -2.0943951023931953
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 89,
+        "pos": [
+            1316.0734322469975,
+            615.3270706150154,
+            42.9409175171225,
+            -2.0943951023931953
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 90,
+        "pos": [
+            1316.0734322469975,
+            615.3270706150154,
+            39.9409175171225,
+            -2.0943951023931953
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 91,
+        "pos": [
+            1316.0734322469975,
+            615.3270706150154,
+            36.9409175171225,
+            -2.0943951023931953
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 92,
+        "pos": [
+            1316.0734322469975,
+            615.3270706150154,
+            33.9409175171225,
+            -2.0943951023931953
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 93,
+        "pos": [
+            1316.0734322469975,
+            615.3270706150154,
+            30.9409175171225,
+            -2.0943951023931953
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 94,
+        "pos": [
+            1316.0734322469975,
+            615.3270706150154,
+            27.9409175171225,
+            -2.0943951023931953
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 95,
+        "pos": [
+            1316.0734322469975,
+            615.3270706150154,
+            24.9409175171225,
+            -2.0943951023931953
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1288.0,
+            604.0,
+            77.7868
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/low_long_updown/2025-01-19_07-12-02_176848/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long_updown/2025-01-19_07-12-02_176848/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5b72ff4117f26cf899e38e38bc1f1dca40f94a4a
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/low_long_updown/2025-01-19_07-12-02_176848/pose.jsonl
@@ -0,0 +1,1217 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1388.5730465085292,
+            628.3608639396933,
+            24.9409175171225,
+            -2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1388.5730465085292,
+            628.3608639396933,
+            27.9409175171225,
+            -2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1388.5730465085292,
+            628.3608639396933,
+            30.9409175171225,
+            -2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1388.5730465085292,
+            628.3608639396933,
+            33.9409175171225,
+            -2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1388.5730465085292,
+            628.3608639396933,
+            36.9409175171225,
+            -2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1388.5730465085292,
+            628.3608639396933,
+            39.9409175171225,
+            -2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1388.5730465085292,
+            628.3608639396933,
+            42.9409175171225,
+            -2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1388.5730465085292,
+            628.3608639396933,
+            45.9409175171225,
+            -2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1388.5730465085292,
+            628.3608639396933,
+            48.9409175171225,
+            -2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1388.5730465085292,
+            628.3608639396933,
+            51.9409175171225,
+            -2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1388.5730465085292,
+            628.3608639396933,
+            54.9409175171225,
+            -2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1388.5730465085292,
+            628.3608639396933,
+            57.9409175171225,
+            -2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1388.5730465085292,
+            628.3608639396933,
+            60.9409175171225,
+            -2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1388.5730465085292,
+            628.3608639396933,
+            63.9409175171225,
+            -2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1388.5730465085292,
+            628.3608639396933,
+            66.9409175171225,
+            -2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1388.5730465085292,
+            628.3608639396933,
+            69.9409175171225,
+            -2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1388.5730465085292,
+            628.3608639396933,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1385.9749702971758,
+            626.8608639396933,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1383.3768940858224,
+            625.3608639396933,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1380.778817874469,
+            623.8608639396933,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1378.1807416631157,
+            622.3608639396933,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1375.5826654517623,
+            620.8608639396933,
+            72.9409175171225
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1375.5826654517623,
+            620.8608639396933,
+            75.9409175171225
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1375.5826654517623,
+            620.8608639396933,
+            78.9409175171225
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1375.5826654517623,
+            620.8608639396933,
+            81.9409175171225
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1375.5826654517623,
+            620.8608639396933,
+            84.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1375.5826654517623,
+            620.8608639396933,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1372.5826654517623,
+            620.8608639396933,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1369.5826654517623,
+            620.8608639396933,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1366.5826654517623,
+            620.8608639396933,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1363.5826654517623,
+            620.8608639396933,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1360.5826654517623,
+            620.8608639396933,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1357.5826654517623,
+            620.8608639396933,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1354.5826654517623,
+            620.8608639396933,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1351.5826654517623,
+            620.8608639396933,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1348.5826654517623,
+            620.8608639396933,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1345.5826654517623,
+            620.8608639396933,
+            84.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1345.5826654517623,
+            620.8608639396933,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1342.984589240409,
+            619.3608639396933,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1340.3865130290555,
+            617.8608639396933,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1337.7884368177022,
+            616.3608639396933,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1335.1903606063488,
+            614.8608639396933,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1332.5922843949954,
+            613.3608639396933,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1329.994208183642,
+            611.8608639396933,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1327.3961319722887,
+            610.3608639396933,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1324.7980557609353,
+            608.8608639396933,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1322.199979549582,
+            607.3608639396933,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1319.6019033382286,
+            605.8608639396933,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1317.0038271268752,
+            604.3608639396933,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1314.4057509155218,
+            602.8608639396933,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            1311.8076747041684,
+            601.3608639396933,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            1309.209598492815,
+            599.8608639396933,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            1306.6115222814617,
+            598.3608639396933,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            1304.0134460701083,
+            596.8608639396933,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            1301.415369858755,
+            595.3608639396933,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            1298.8172936474016,
+            593.8608639396933,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            1296.2192174360482,
+            592.3608639396933,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            1293.6211412246948,
+            590.8608639396933,
+            84.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            1293.6211412246948,
+            590.8608639396933,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            1290.6211412246948,
+            590.8608639396933,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            1287.6211412246948,
+            590.8608639396933,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            1284.6211412246948,
+            590.8608639396933,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            1281.6211412246948,
+            590.8608639396933,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            1278.6211412246948,
+            590.8608639396933,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            1275.6211412246948,
+            590.8608639396933,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            1272.6211412246948,
+            590.8608639396933,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            1269.6211412246948,
+            590.8608639396933,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            1266.6211412246948,
+            590.8608639396933,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            1263.6211412246948,
+            590.8608639396933,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            1260.6211412246948,
+            590.8608639396933,
+            84.9409175171225
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            1260.6211412246948,
+            590.8608639396933,
+            81.9409175171225
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            1260.6211412246948,
+            590.8608639396933,
+            78.9409175171225
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            1260.6211412246948,
+            590.8608639396933,
+            75.9409175171225
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            1260.6211412246948,
+            590.8608639396933,
+            72.9409175171225
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            1260.6211412246948,
+            590.8608639396933,
+            69.9409175171225,
+            3.141592653589793
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            1260.6211412246948,
+            590.8608639396933,
+            66.9409175171225,
+            3.141592653589793
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            1260.6211412246948,
+            590.8608639396933,
+            63.9409175171225,
+            3.141592653589793
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            1260.6211412246948,
+            590.8608639396933,
+            60.9409175171225,
+            3.141592653589793
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            1260.6211412246948,
+            590.8608639396933,
+            57.9409175171225,
+            3.141592653589793
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            1260.6211412246948,
+            590.8608639396933,
+            54.9409175171225,
+            3.141592653589793
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            1260.6211412246948,
+            590.8608639396933,
+            51.9409175171225,
+            3.141592653589793
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 81,
+        "pos": [
+            1260.6211412246948,
+            590.8608639396933,
+            48.9409175171225,
+            3.141592653589793
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 82,
+        "pos": [
+            1260.6211412246948,
+            590.8608639396933,
+            45.9409175171225,
+            3.141592653589793
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 83,
+        "pos": [
+            1260.6211412246948,
+            590.8608639396933,
+            42.9409175171225,
+            3.141592653589793
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 84,
+        "pos": [
+            1260.6211412246948,
+            590.8608639396933,
+            39.9409175171225,
+            3.141592653589793
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 85,
+        "pos": [
+            1260.6211412246948,
+            590.8608639396933,
+            36.9409175171225,
+            3.141592653589793
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 86,
+        "pos": [
+            1260.6211412246948,
+            590.8608639396933,
+            33.9409175171225,
+            3.141592653589793
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 87,
+        "pos": [
+            1260.6211412246948,
+            590.8608639396933,
+            30.9409175171225,
+            3.141592653589793
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 88,
+        "pos": [
+            1260.6211412246948,
+            590.8608639396933,
+            27.9409175171225,
+            3.141592653589793
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 89,
+        "pos": [
+            1260.6211412246948,
+            590.8608639396933,
+            24.9409175171225,
+            3.141592653589793
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1232.0,
+            584.0,
+            78.4772
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/low_long_updown/2025-01-19_07-13-31_574217/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long_updown/2025-01-19_07-13-31_574217/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9023342f268945342dad0fe5758af525e64fe2ee
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/low_long_updown/2025-01-19_07-13-31_574217/pose.jsonl
@@ -0,0 +1,970 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            101.66672923003273,
+            123.18389000853657,
+            24.9409175171225,
+            0.5235987755982988
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            101.66672923003273,
+            123.18389000853657,
+            27.9409175171225,
+            0.5235987755982988
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            101.66672923003273,
+            123.18389000853657,
+            30.9409175171225,
+            0.5235987755982988
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            101.66672923003273,
+            123.18389000853657,
+            33.9409175171225,
+            0.5235987755982988
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            101.66672923003273,
+            123.18389000853657,
+            36.9409175171225,
+            0.5235987755982988
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            101.66672923003273,
+            123.18389000853657,
+            39.9409175171225,
+            0.5235987755982988
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            101.66672923003273,
+            123.18389000853657,
+            42.9409175171225,
+            0.5235987755982988
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            101.66672923003273,
+            123.18389000853657,
+            45.9409175171225,
+            0.5235987755982988
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            101.66672923003273,
+            123.18389000853657,
+            48.9409175171225,
+            0.5235987755982988
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            101.66672923003273,
+            123.18389000853657,
+            51.9409175171225,
+            0.5235987755982988
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            101.66672923003273,
+            123.18389000853657,
+            54.9409175171225,
+            0.5235987755982988
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            101.66672923003273,
+            123.18389000853657,
+            57.9409175171225,
+            0.5235987755982988
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            101.66672923003273,
+            123.18389000853657,
+            60.9409175171225,
+            0.5235987755982988
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            101.66672923003273,
+            123.18389000853657,
+            63.9409175171225,
+            0.5235987755982988
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            101.66672923003273,
+            123.18389000853657,
+            66.9409175171225,
+            0.5235987755982988
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            101.66672923003273,
+            123.18389000853657,
+            69.9409175171225,
+            0.5235987755982988
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            101.66672923003273,
+            123.18389000853657,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            104.26480544138605,
+            124.68389000853657,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            106.86288165273936,
+            126.18389000853657,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            109.46095786409268,
+            127.68389000853657,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            112.059034075446,
+            129.18389000853657,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            114.65711028679931,
+            130.68389000853657,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            117.25518649815263,
+            132.18389000853657,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            119.85326270950594,
+            133.68389000853657,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            122.45133892085926,
+            135.18389000853657,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            125.04941513221257,
+            136.68389000853657,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            127.64749134356589,
+            138.18389000853657,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            130.2455675549192,
+            139.68389000853657,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            132.84364376627252,
+            141.18389000853657,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            135.44171997762584,
+            142.68389000853657,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            138.03979618897915,
+            144.18389000853657,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            140.63787240033247,
+            145.68389000853657,
+            72.9409175171225
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            140.63787240033247,
+            145.68389000853657,
+            75.9409175171225
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            140.63787240033247,
+            145.68389000853657,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            143.23594861168579,
+            147.18389000853657,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            145.8340248230391,
+            148.68389000853657,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            148.43210103439242,
+            150.18389000853657,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            151.03017724574573,
+            151.68389000853657,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            153.62825345709905,
+            153.18389000853657,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            156.22632966845237,
+            154.68389000853657,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            158.82440587980568,
+            156.18389000853657,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            161.422482091159,
+            157.68389000853657,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            164.0205583025123,
+            159.18389000853657,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            166.61863451386563,
+            160.68389000853657,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            169.21671072521895,
+            162.18389000853657,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            171.81478693657226,
+            163.68389000853657,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            174.41286314792558,
+            165.18389000853657,
+            78.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            174.41286314792558,
+            165.18389000853657,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            175.91286314792558,
+            167.78196621988988,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            177.41286314792558,
+            170.3800424312432,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            178.91286314792558,
+            172.9781186425965,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            180.41286314792558,
+            175.57619485394983,
+            78.9409175171225
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            180.41286314792558,
+            175.57619485394983,
+            75.9409175171225
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            180.41286314792558,
+            175.57619485394983,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            181.91286314792558,
+            178.17427106530315,
+            72.9409175171225
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            181.91286314792558,
+            178.17427106530315,
+            69.9409175171225,
+            1.0471975511965976
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            181.91286314792558,
+            178.17427106530315,
+            66.9409175171225,
+            1.0471975511965976
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            181.91286314792558,
+            178.17427106530315,
+            63.9409175171225,
+            1.0471975511965976
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            181.91286314792558,
+            178.17427106530315,
+            60.9409175171225,
+            1.0471975511965976
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            181.91286314792558,
+            178.17427106530315,
+            57.9409175171225,
+            1.0471975511965976
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            181.91286314792558,
+            178.17427106530315,
+            54.9409175171225,
+            1.0471975511965976
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            181.91286314792558,
+            178.17427106530315,
+            51.9409175171225,
+            1.0471975511965976
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            181.91286314792558,
+            178.17427106530315,
+            48.9409175171225,
+            1.0471975511965976
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            181.91286314792558,
+            178.17427106530315,
+            45.9409175171225,
+            1.0471975511965976
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            181.91286314792558,
+            178.17427106530315,
+            42.9409175171225,
+            1.0471975511965976
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            181.91286314792558,
+            178.17427106530315,
+            39.9409175171225,
+            1.0471975511965976
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            181.91286314792558,
+            178.17427106530315,
+            36.9409175171225,
+            1.0471975511965976
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            181.91286314792558,
+            178.17427106530315,
+            33.9409175171225,
+            1.0471975511965976
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            181.91286314792558,
+            178.17427106530315,
+            30.9409175171225,
+            1.0471975511965976
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            181.91286314792558,
+            178.17427106530315,
+            27.9409175171225,
+            1.0471975511965976
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            181.91286314792558,
+            178.17427106530315,
+            24.9409175171225,
+            1.0471975511965976
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            232.0,
+            212.0,
+            376.005
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/low_long_updown/2025-01-19_07-43-30_759761/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long_updown/2025-01-19_07-43-30_759761/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..586d7202e91305b1cf99e7ecfa16832dd9a2b031
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/low_long_updown/2025-01-19_07-43-30_759761/pose.jsonl
@@ -0,0 +1,1191 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            60.50498332487717,
+            117.7990488443817,
+            24.9409175171225,
+            0.0
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            60.50498332487717,
+            117.7990488443817,
+            27.9409175171225,
+            0.0
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            60.50498332487717,
+            117.7990488443817,
+            30.9409175171225,
+            0.0
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            60.50498332487717,
+            117.7990488443817,
+            33.9409175171225,
+            0.0
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            60.50498332487717,
+            117.7990488443817,
+            36.9409175171225,
+            0.0
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            60.50498332487717,
+            117.7990488443817,
+            39.9409175171225,
+            0.0
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            60.50498332487717,
+            117.7990488443817,
+            42.9409175171225,
+            0.0
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            60.50498332487717,
+            117.7990488443817,
+            45.9409175171225,
+            0.0
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            60.50498332487717,
+            117.7990488443817,
+            48.9409175171225,
+            0.0
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            60.50498332487717,
+            117.7990488443817,
+            51.9409175171225,
+            0.0
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            60.50498332487717,
+            117.7990488443817,
+            54.9409175171225,
+            0.0
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            60.50498332487717,
+            117.7990488443817,
+            57.9409175171225,
+            0.0
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            60.50498332487717,
+            117.7990488443817,
+            60.9409175171225,
+            0.0
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            60.50498332487717,
+            117.7990488443817,
+            63.9409175171225,
+            0.0
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            60.50498332487717,
+            117.7990488443817,
+            66.9409175171225,
+            0.0
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            60.50498332487717,
+            117.7990488443817,
+            69.9409175171225,
+            0.0
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            60.50498332487717,
+            117.7990488443817,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            63.50498332487717,
+            117.7990488443817,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            66.50498332487717,
+            117.7990488443817,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            69.50498332487717,
+            117.7990488443817,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            72.50498332487717,
+            117.7990488443817,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            75.50498332487717,
+            117.7990488443817,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            78.50498332487717,
+            117.7990488443817,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            81.50498332487717,
+            117.7990488443817,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            84.50498332487717,
+            117.7990488443817,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            84.50498332487717,
+            117.7990488443817,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            87.10305953623049,
+            119.2990488443817,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            87.10305953623049,
+            119.2990488443817,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            88.60305953623049,
+            121.89712505573502,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            90.10305953623049,
+            124.49520126708833,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            90.10305953623049,
+            124.49520126708833,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            92.7011357475838,
+            125.99520126708833,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            95.29921195893712,
+            127.49520126708833,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            97.89728817029044,
+            128.99520126708833,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            100.49536438164375,
+            130.49520126708833,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            103.09344059299707,
+            131.99520126708833,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            105.69151680435039,
+            133.49520126708833,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            108.2895930157037,
+            134.99520126708833,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            110.88766922705702,
+            136.49520126708833,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            113.48574543841033,
+            137.99520126708833,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            116.08382164976365,
+            139.49520126708833,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            118.68189786111697,
+            140.99520126708833,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            121.27997407247028,
+            142.49520126708833,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            123.8780502838236,
+            143.99520126708833,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            126.47612649517691,
+            145.49520126708833,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            129.07420270653023,
+            146.99520126708833,
+            72.9409175171225
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            129.07420270653023,
+            146.99520126708833,
+            75.9409175171225
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            129.07420270653023,
+            146.99520126708833,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            131.67227891788355,
+            148.49520126708833,
+            78.9409175171225
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            131.67227891788355,
+            148.49520126708833,
+            81.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            134.27035512923686,
+            149.99520126708833,
+            81.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            136.86843134059018,
+            151.49520126708833,
+            81.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            139.4665075519435,
+            152.99520126708833,
+            81.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            142.0645837632968,
+            154.49520126708833,
+            81.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            144.66265997465013,
+            155.99520126708833,
+            81.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            147.26073618600344,
+            157.49520126708833,
+            81.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            149.85881239735676,
+            158.99520126708833,
+            81.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            152.45688860871007,
+            160.49520126708833,
+            81.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            155.0549648200634,
+            161.99520126708833,
+            81.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            157.6530410314167,
+            163.49520126708833,
+            81.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            160.25111724277002,
+            164.99520126708833,
+            81.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            162.84919345412334,
+            166.49520126708833,
+            81.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            165.44726966547665,
+            167.99520126708833,
+            81.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            168.04534587682997,
+            169.49520126708833,
+            81.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            170.64342208818329,
+            170.99520126708833,
+            81.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            173.2414982995366,
+            172.49520126708833,
+            81.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            175.83957451088992,
+            173.99520126708833,
+            81.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            178.43765072224323,
+            175.49520126708833,
+            81.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            181.03572693359655,
+            176.99520126708833,
+            81.9409175171225
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            181.03572693359655,
+            176.99520126708833,
+            78.9409175171225
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            181.03572693359655,
+            176.99520126708833,
+            75.9409175171225
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            181.03572693359655,
+            176.99520126708833,
+            72.9409175171225
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            181.03572693359655,
+            176.99520126708833,
+            69.9409175171225,
+            0.5235987755982988
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            181.03572693359655,
+            176.99520126708833,
+            66.9409175171225,
+            0.5235987755982988
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            181.03572693359655,
+            176.99520126708833,
+            63.9409175171225,
+            0.5235987755982988
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            181.03572693359655,
+            176.99520126708833,
+            60.9409175171225,
+            0.5235987755982988
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            181.03572693359655,
+            176.99520126708833,
+            57.9409175171225,
+            0.5235987755982988
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            181.03572693359655,
+            176.99520126708833,
+            54.9409175171225,
+            0.5235987755982988
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            181.03572693359655,
+            176.99520126708833,
+            51.9409175171225,
+            0.5235987755982988
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            181.03572693359655,
+            176.99520126708833,
+            48.9409175171225,
+            0.5235987755982988
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            181.03572693359655,
+            176.99520126708833,
+            45.9409175171225,
+            0.5235987755982988
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 81,
+        "pos": [
+            181.03572693359655,
+            176.99520126708833,
+            42.9409175171225,
+            0.5235987755982988
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 82,
+        "pos": [
+            181.03572693359655,
+            176.99520126708833,
+            39.9409175171225,
+            0.5235987755982988
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 83,
+        "pos": [
+            181.03572693359655,
+            176.99520126708833,
+            36.9409175171225,
+            0.5235987755982988
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 84,
+        "pos": [
+            181.03572693359655,
+            176.99520126708833,
+            33.9409175171225,
+            0.5235987755982988
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 85,
+        "pos": [
+            181.03572693359655,
+            176.99520126708833,
+            30.9409175171225,
+            0.5235987755982988
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 86,
+        "pos": [
+            181.03572693359655,
+            176.99520126708833,
+            27.9409175171225,
+            0.5235987755982988
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 87,
+        "pos": [
+            181.03572693359655,
+            176.99520126708833,
+            24.9409175171225,
+            0.5235987755982988
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            196.0,
+            184.0,
+            386.26
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/low_long_updown/2025-01-19_07-44-55_785232/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long_updown/2025-01-19_07-44-55_785232/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..07cc40c592e8a0c60f0d22b37608c36039aa6a90
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/low_long_updown/2025-01-19_07-44-55_785232/pose.jsonl
@@ -0,0 +1,1321 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -966.5309307226471,
+            -405.97887679887657,
+            24.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -966.5309307226471,
+            -405.97887679887657,
+            27.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -966.5309307226471,
+            -405.97887679887657,
+            30.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -966.5309307226471,
+            -405.97887679887657,
+            33.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -966.5309307226471,
+            -405.97887679887657,
+            36.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -966.5309307226471,
+            -405.97887679887657,
+            39.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -966.5309307226471,
+            -405.97887679887657,
+            42.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -966.5309307226471,
+            -405.97887679887657,
+            45.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -966.5309307226471,
+            -405.97887679887657,
+            48.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -966.5309307226471,
+            -405.97887679887657,
+            51.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -966.5309307226471,
+            -405.97887679887657,
+            54.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -966.5309307226471,
+            -405.97887679887657,
+            57.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -966.5309307226471,
+            -405.97887679887657,
+            60.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -966.5309307226471,
+            -405.97887679887657,
+            63.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -966.5309307226471,
+            -405.97887679887657,
+            66.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -966.5309307226471,
+            -405.97887679887657,
+            69.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -966.5309307226471,
+            -405.97887679887657,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -969.1290069340005,
+            -404.47887679887657,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -971.7270831453538,
+            -402.97887679887657,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -974.3251593567072,
+            -401.47887679887657,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -976.9232355680606,
+            -399.97887679887657,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -979.521311779414,
+            -398.47887679887657,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -982.1193879907673,
+            -396.97887679887657,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -984.7174642021207,
+            -395.47887679887657,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -987.3155404134741,
+            -393.97887679887657,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -989.9136166248275,
+            -392.47887679887657,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -992.5116928361808,
+            -390.97887679887657,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -992.5116928361808,
+            -390.97887679887657,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -995.5116928361808,
+            -390.97887679887657,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -998.5116928361808,
+            -390.97887679887657,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1001.5116928361808,
+            -390.97887679887657,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1004.5116928361808,
+            -390.97887679887657,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1007.5116928361808,
+            -390.97887679887657,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1010.5116928361808,
+            -390.97887679887657,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1013.5116928361808,
+            -390.97887679887657,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1016.5116928361808,
+            -390.97887679887657,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1019.5116928361808,
+            -390.97887679887657,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1022.5116928361808,
+            -390.97887679887657,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1025.5116928361808,
+            -390.97887679887657,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1028.5116928361808,
+            -390.97887679887657,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -1031.5116928361808,
+            -390.97887679887657,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -1034.5116928361808,
+            -390.97887679887657,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -1037.5116928361808,
+            -390.97887679887657,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -1040.5116928361808,
+            -390.97887679887657,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -1040.5116928361808,
+            -390.97887679887657,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -1043.1097690475342,
+            -389.47887679887657,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -1045.7078452588876,
+            -387.97887679887657,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -1048.305921470241,
+            -386.47887679887657,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -1050.9039976815943,
+            -384.97887679887657,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -1053.5020738929477,
+            -383.47887679887657,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -1056.100150104301,
+            -381.97887679887657,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -1058.6982263156544,
+            -380.47887679887657,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -1061.2963025270078,
+            -378.97887679887657,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -1063.8943787383612,
+            -377.47887679887657,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -1066.4924549497146,
+            -375.97887679887657,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -1069.090531161068,
+            -374.47887679887657,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -1071.6886073724213,
+            -372.97887679887657,
+            72.9409175171225
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -1071.6886073724213,
+            -372.97887679887657,
+            75.9409175171225
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            -1071.6886073724213,
+            -372.97887679887657,
+            78.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            -1071.6886073724213,
+            -372.97887679887657,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            -1074.6886073724213,
+            -372.97887679887657,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            -1077.6886073724213,
+            -372.97887679887657,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            -1080.6886073724213,
+            -372.97887679887657,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            -1083.6886073724213,
+            -372.97887679887657,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            -1086.6886073724213,
+            -372.97887679887657,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            -1089.6886073724213,
+            -372.97887679887657,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            -1092.6886073724213,
+            -372.97887679887657,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            -1095.6886073724213,
+            -372.97887679887657,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            -1098.6886073724213,
+            -372.97887679887657,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            -1101.6886073724213,
+            -372.97887679887657,
+            78.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            -1101.6886073724213,
+            -372.97887679887657,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            -1104.2866835837747,
+            -371.47887679887657,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            -1106.884759795128,
+            -369.97887679887657,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            -1109.4828360064814,
+            -368.47887679887657,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            -1112.0809122178348,
+            -366.97887679887657,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            -1114.6789884291882,
+            -365.47887679887657,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            -1117.2770646405415,
+            -363.97887679887657,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            -1119.875140851895,
+            -362.47887679887657,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            -1122.4732170632483,
+            -360.97887679887657,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            -1125.0712932746017,
+            -359.47887679887657,
+            78.9409175171225
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            -1125.0712932746017,
+            -359.47887679887657,
+            75.9409175171225
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 81,
+        "pos": [
+            -1125.0712932746017,
+            -359.47887679887657,
+            72.9409175171225
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 82,
+        "pos": [
+            -1125.0712932746017,
+            -359.47887679887657,
+            69.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 83,
+        "pos": [
+            -1125.0712932746017,
+            -359.47887679887657,
+            66.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 84,
+        "pos": [
+            -1125.0712932746017,
+            -359.47887679887657,
+            63.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 85,
+        "pos": [
+            -1125.0712932746017,
+            -359.47887679887657,
+            60.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 86,
+        "pos": [
+            -1125.0712932746017,
+            -359.47887679887657,
+            57.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 87,
+        "pos": [
+            -1125.0712932746017,
+            -359.47887679887657,
+            54.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 88,
+        "pos": [
+            -1125.0712932746017,
+            -359.47887679887657,
+            51.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 89,
+        "pos": [
+            -1125.0712932746017,
+            -359.47887679887657,
+            48.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 90,
+        "pos": [
+            -1125.0712932746017,
+            -359.47887679887657,
+            45.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 91,
+        "pos": [
+            -1125.0712932746017,
+            -359.47887679887657,
+            42.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 92,
+        "pos": [
+            -1125.0712932746017,
+            -359.47887679887657,
+            39.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 93,
+        "pos": [
+            -1125.0712932746017,
+            -359.47887679887657,
+            36.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 94,
+        "pos": [
+            -1125.0712932746017,
+            -359.47887679887657,
+            33.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 95,
+        "pos": [
+            -1125.0712932746017,
+            -359.47887679887657,
+            30.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 96,
+        "pos": [
+            -1125.0712932746017,
+            -359.47887679887657,
+            27.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 97,
+        "pos": [
+            -1125.0712932746017,
+            -359.47887679887657,
+            24.9409175171225,
+            2.6179938779915037
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1132.0,
+            -356.0,
+            72.6411
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/low_long_updown/2025-01-19_08-16-45_866156/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long_updown/2025-01-19_08-16-45_866156/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..812e61ca1403ca7fdc31134f11a55fa4ee00ea29
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/low_long_updown/2025-01-19_08-16-45_866156/pose.jsonl
@@ -0,0 +1,1283 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1356.6182260398537,
+            -870.7513812922019,
+            24.9409175171225,
+            0.0
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1356.6182260398537,
+            -870.7513812922019,
+            27.9409175171225,
+            0.0
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1356.6182260398537,
+            -870.7513812922019,
+            30.9409175171225,
+            0.0
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1356.6182260398537,
+            -870.7513812922019,
+            33.9409175171225,
+            0.0
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1356.6182260398537,
+            -870.7513812922019,
+            36.9409175171225,
+            0.0
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1356.6182260398537,
+            -870.7513812922019,
+            39.9409175171225,
+            0.0
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1356.6182260398537,
+            -870.7513812922019,
+            42.9409175171225,
+            0.0
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1356.6182260398537,
+            -870.7513812922019,
+            45.9409175171225,
+            0.0
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1356.6182260398537,
+            -870.7513812922019,
+            48.9409175171225,
+            0.0
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1356.6182260398537,
+            -870.7513812922019,
+            51.9409175171225,
+            0.0
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1356.6182260398537,
+            -870.7513812922019,
+            54.9409175171225,
+            0.0
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1356.6182260398537,
+            -870.7513812922019,
+            57.9409175171225,
+            0.0
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1356.6182260398537,
+            -870.7513812922019,
+            60.9409175171225,
+            0.0
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1356.6182260398537,
+            -870.7513812922019,
+            63.9409175171225,
+            0.0
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1356.6182260398537,
+            -870.7513812922019,
+            66.9409175171225,
+            0.0
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1356.6182260398537,
+            -870.7513812922019,
+            69.9409175171225,
+            0.0
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1356.6182260398537,
+            -870.7513812922019,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1359.6182260398537,
+            -870.7513812922019,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1362.6182260398537,
+            -870.7513812922019,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1365.6182260398537,
+            -870.7513812922019,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1368.6182260398537,
+            -870.7513812922019,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1371.6182260398537,
+            -870.7513812922019,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1374.6182260398537,
+            -870.7513812922019,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1377.6182260398537,
+            -870.7513812922019,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1380.6182260398537,
+            -870.7513812922019,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1383.6182260398537,
+            -870.7513812922019,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1386.6182260398537,
+            -870.7513812922019,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1389.6182260398537,
+            -870.7513812922019,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1392.6182260398537,
+            -870.7513812922019,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1395.6182260398537,
+            -870.7513812922019,
+            72.9409175171225
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1395.6182260398537,
+            -870.7513812922019,
+            75.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1395.6182260398537,
+            -870.7513812922019,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1398.216302251207,
+            -872.2513812922019,
+            75.9409175171225
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1398.216302251207,
+            -872.2513812922019,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1400.8143784625604,
+            -873.7513812922019,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1403.4124546739138,
+            -875.2513812922019,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1406.0105308852671,
+            -876.7513812922019,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1408.6086070966205,
+            -878.2513812922019,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1411.206683307974,
+            -879.7513812922019,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1413.8047595193273,
+            -881.2513812922019,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1416.4028357306806,
+            -882.7513812922019,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1419.000911942034,
+            -884.2513812922019,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1421.5989881533874,
+            -885.7513812922019,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1424.1970643647408,
+            -887.2513812922019,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1426.7951405760941,
+            -888.7513812922019,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1429.3932167874475,
+            -890.2513812922019,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1431.9912929988009,
+            -891.7513812922019,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1434.5893692101542,
+            -893.2513812922019,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1437.1874454215076,
+            -894.7513812922019,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1439.785521632861,
+            -896.2513812922019,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            1442.3835978442144,
+            -897.7513812922019,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            1444.9816740555677,
+            -899.2513812922019,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            1447.579750266921,
+            -900.7513812922019,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            1450.1778264782745,
+            -902.2513812922019,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            1452.7759026896279,
+            -903.7513812922019,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            1455.3739789009812,
+            -905.2513812922019,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            1457.9720551123346,
+            -906.7513812922019,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            1460.570131323688,
+            -908.2513812922019,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            1463.1682075350413,
+            -909.7513812922019,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            1465.7662837463947,
+            -911.2513812922019,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            1468.364359957748,
+            -912.7513812922019,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            1470.9624361691015,
+            -914.2513812922019,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            1473.5605123804548,
+            -915.7513812922019,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            1476.1585885918082,
+            -917.2513812922019,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            1478.7566648031616,
+            -918.7513812922019,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            1481.354741014515,
+            -920.2513812922019,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            1483.9528172258683,
+            -921.7513812922019,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            1486.5508934372217,
+            -923.2513812922019,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            1489.148969648575,
+            -924.7513812922019,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            1491.7470458599284,
+            -926.2513812922019,
+            78.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            1491.7470458599284,
+            -926.2513812922019,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            1494.7470458599284,
+            -926.2513812922019,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            1497.7470458599284,
+            -926.2513812922019,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            1500.7470458599284,
+            -926.2513812922019,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            1503.7470458599284,
+            -926.2513812922019,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            1506.7470458599284,
+            -926.2513812922019,
+            78.9409175171225
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            1506.7470458599284,
+            -926.2513812922019,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            1509.7470458599284,
+            -926.2513812922019,
+            75.9409175171225
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            1509.7470458599284,
+            -926.2513812922019,
+            72.9409175171225,
+            0.0
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            1509.7470458599284,
+            -926.2513812922019,
+            69.9409175171225,
+            0.0
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            1509.7470458599284,
+            -926.2513812922019,
+            66.9409175171225,
+            0.0
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 81,
+        "pos": [
+            1509.7470458599284,
+            -926.2513812922019,
+            63.9409175171225,
+            0.0
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 82,
+        "pos": [
+            1509.7470458599284,
+            -926.2513812922019,
+            60.9409175171225,
+            0.0
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 83,
+        "pos": [
+            1509.7470458599284,
+            -926.2513812922019,
+            57.9409175171225,
+            0.0
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 84,
+        "pos": [
+            1509.7470458599284,
+            -926.2513812922019,
+            54.9409175171225,
+            0.0
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 85,
+        "pos": [
+            1509.7470458599284,
+            -926.2513812922019,
+            51.9409175171225,
+            0.0
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 86,
+        "pos": [
+            1509.7470458599284,
+            -926.2513812922019,
+            48.9409175171225,
+            0.0
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 87,
+        "pos": [
+            1509.7470458599284,
+            -926.2513812922019,
+            45.9409175171225,
+            0.0
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 88,
+        "pos": [
+            1509.7470458599284,
+            -926.2513812922019,
+            42.9409175171225,
+            0.0
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 89,
+        "pos": [
+            1509.7470458599284,
+            -926.2513812922019,
+            39.9409175171225,
+            0.0
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 90,
+        "pos": [
+            1509.7470458599284,
+            -926.2513812922019,
+            36.9409175171225,
+            0.0
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 91,
+        "pos": [
+            1509.7470458599284,
+            -926.2513812922019,
+            33.9409175171225,
+            0.0
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 92,
+        "pos": [
+            1509.7470458599284,
+            -926.2513812922019,
+            30.9409175171225,
+            0.0
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 93,
+        "pos": [
+            1509.7470458599284,
+            -926.2513812922019,
+            27.9409175171225,
+            0.0
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 94,
+        "pos": [
+            1509.7470458599284,
+            -926.2513812922019,
+            24.9409175171225,
+            0.0
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1524.0,
+            -932.0,
+            89.7479
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/low_long_updown/2025-01-19_08-22-24_133667/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long_updown/2025-01-19_08-22-24_133667/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..600855683f51ca5c908479513a7ece45e94be052
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/low_long_updown/2025-01-19_08-22-24_133667/pose.jsonl
@@ -0,0 +1,1296 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1050.150862215894,
+            -1651.9390104071877,
+            24.9409175171225,
+            -2.094395102393186
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1050.150862215894,
+            -1651.9390104071877,
+            27.9409175171225,
+            -2.094395102393186
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1050.150862215894,
+            -1651.9390104071877,
+            30.9409175171225,
+            -2.094395102393186
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1050.150862215894,
+            -1651.9390104071877,
+            33.9409175171225,
+            -2.094395102393186
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1050.150862215894,
+            -1651.9390104071877,
+            36.9409175171225,
+            -2.094395102393186
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1050.150862215894,
+            -1651.9390104071877,
+            39.9409175171225,
+            -2.094395102393186
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1050.150862215894,
+            -1651.9390104071877,
+            42.9409175171225,
+            -2.094395102393186
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1050.150862215894,
+            -1651.9390104071877,
+            45.9409175171225,
+            -2.094395102393186
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1050.150862215894,
+            -1651.9390104071877,
+            48.9409175171225,
+            -2.094395102393186
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1050.150862215894,
+            -1651.9390104071877,
+            51.9409175171225,
+            -2.094395102393186
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1050.150862215894,
+            -1651.9390104071877,
+            54.9409175171225,
+            -2.094395102393186
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1050.150862215894,
+            -1651.9390104071877,
+            57.9409175171225,
+            -2.094395102393186
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1050.150862215894,
+            -1651.9390104071877,
+            60.9409175171225,
+            -2.094395102393186
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1050.150862215894,
+            -1651.9390104071877,
+            63.9409175171225,
+            -2.094395102393186
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1050.150862215894,
+            -1651.9390104071877,
+            66.9409175171225,
+            -2.094395102393186
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1050.150862215894,
+            -1651.9390104071877,
+            69.9409175171225,
+            -2.094395102393186
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1050.150862215894,
+            -1651.9390104071877,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1048.650862215894,
+            -1654.537086618541,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1047.150862215894,
+            -1657.1351628298944,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1047.150862215894,
+            -1657.1351628298944,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1047.150862215894,
+            -1660.1351628298944,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1047.150862215894,
+            -1663.1351628298944,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1047.150862215894,
+            -1666.1351628298944,
+            72.9409175171225
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1047.150862215894,
+            -1666.1351628298944,
+            75.9409175171225
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1047.150862215894,
+            -1666.1351628298944,
+            78.9409175171225
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1047.150862215894,
+            -1666.1351628298944,
+            81.9409175171225
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1047.150862215894,
+            -1666.1351628298944,
+            84.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1047.150862215894,
+            -1666.1351628298944,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1045.650862215894,
+            -1668.7332390412478,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1044.150862215894,
+            -1671.3313152526011,
+            84.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1044.150862215894,
+            -1671.3313152526011,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1041.5527860045406,
+            -1672.8313152526011,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1038.9547097931872,
+            -1674.3313152526011,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1036.3566335818339,
+            -1675.8313152526011,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1033.7585573704805,
+            -1677.3313152526011,
+            84.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1033.7585573704805,
+            -1677.3313152526011,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1030.7585573704805,
+            -1677.3313152526011,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1027.7585573704805,
+            -1677.3313152526011,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1024.7585573704805,
+            -1677.3313152526011,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1021.7585573704805,
+            -1677.3313152526011,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1018.7585573704805,
+            -1677.3313152526011,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1015.7585573704805,
+            -1677.3313152526011,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1012.7585573704805,
+            -1677.3313152526011,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1009.7585573704805,
+            -1677.3313152526011,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1006.7585573704805,
+            -1677.3313152526011,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1003.7585573704805,
+            -1677.3313152526011,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1000.7585573704805,
+            -1677.3313152526011,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            997.7585573704805,
+            -1677.3313152526011,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            994.7585573704805,
+            -1677.3313152526011,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            991.7585573704805,
+            -1677.3313152526011,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            988.7585573704805,
+            -1677.3313152526011,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            985.7585573704805,
+            -1677.3313152526011,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            982.7585573704805,
+            -1677.3313152526011,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            979.7585573704805,
+            -1677.3313152526011,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            976.7585573704805,
+            -1677.3313152526011,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            973.7585573704805,
+            -1677.3313152526011,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            970.7585573704805,
+            -1677.3313152526011,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            967.7585573704805,
+            -1677.3313152526011,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            964.7585573704805,
+            -1677.3313152526011,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            961.7585573704805,
+            -1677.3313152526011,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            958.7585573704805,
+            -1677.3313152526011,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            955.7585573704805,
+            -1677.3313152526011,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            952.7585573704805,
+            -1677.3313152526011,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            949.7585573704805,
+            -1677.3313152526011,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            946.7585573704805,
+            -1677.3313152526011,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            943.7585573704805,
+            -1677.3313152526011,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            940.7585573704805,
+            -1677.3313152526011,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            937.7585573704805,
+            -1677.3313152526011,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            934.7585573704805,
+            -1677.3313152526011,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            931.7585573704805,
+            -1677.3313152526011,
+            84.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            928.7585573704805,
+            -1677.3313152526011,
+            84.9409175171225
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            928.7585573704805,
+            -1677.3313152526011,
+            81.9409175171225
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            928.7585573704805,
+            -1677.3313152526011,
+            78.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            928.7585573704805,
+            -1677.3313152526011,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            926.1604811591271,
+            -1678.8313152526011,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            923.5624049477738,
+            -1680.3313152526011,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            920.9643287364204,
+            -1681.8313152526011,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            918.366252525067,
+            -1683.3313152526011,
+            78.9409175171225
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            918.366252525067,
+            -1683.3313152526011,
+            75.9409175171225
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            918.366252525067,
+            -1683.3313152526011,
+            72.9409175171225,
+            -2.6179938779915037
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            918.366252525067,
+            -1683.3313152526011,
+            69.9409175171225,
+            -2.6179938779915037
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 81,
+        "pos": [
+            918.366252525067,
+            -1683.3313152526011,
+            66.9409175171225,
+            -2.6179938779915037
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 82,
+        "pos": [
+            918.366252525067,
+            -1683.3313152526011,
+            63.9409175171225,
+            -2.6179938779915037
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 83,
+        "pos": [
+            918.366252525067,
+            -1683.3313152526011,
+            60.9409175171225,
+            -2.6179938779915037
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 84,
+        "pos": [
+            918.366252525067,
+            -1683.3313152526011,
+            57.9409175171225,
+            -2.6179938779915037
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 85,
+        "pos": [
+            918.366252525067,
+            -1683.3313152526011,
+            54.9409175171225,
+            -2.6179938779915037
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 86,
+        "pos": [
+            918.366252525067,
+            -1683.3313152526011,
+            51.9409175171225,
+            -2.6179938779915037
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 87,
+        "pos": [
+            918.366252525067,
+            -1683.3313152526011,
+            48.9409175171225,
+            -2.6179938779915037
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 88,
+        "pos": [
+            918.366252525067,
+            -1683.3313152526011,
+            45.9409175171225,
+            -2.6179938779915037
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 89,
+        "pos": [
+            918.366252525067,
+            -1683.3313152526011,
+            42.9409175171225,
+            -2.6179938779915037
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 90,
+        "pos": [
+            918.366252525067,
+            -1683.3313152526011,
+            39.9409175171225,
+            -2.6179938779915037
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 91,
+        "pos": [
+            918.366252525067,
+            -1683.3313152526011,
+            36.9409175171225,
+            -2.6179938779915037
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 92,
+        "pos": [
+            918.366252525067,
+            -1683.3313152526011,
+            33.9409175171225,
+            -2.6179938779915037
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 93,
+        "pos": [
+            918.366252525067,
+            -1683.3313152526011,
+            30.9409175171225,
+            -2.6179938779915037
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 94,
+        "pos": [
+            918.366252525067,
+            -1683.3313152526011,
+            27.9409175171225,
+            -2.6179938779915037
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 95,
+        "pos": [
+            918.366252525067,
+            -1683.3313152526011,
+            24.9409175171225,
+            -2.6179938779915037
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            896.0,
+            -1688.0,
+            168.713
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/low_long_updown/2025-01-19_08-32-25_658406/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long_updown/2025-01-19_08-32-25_658406/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6ef14916ce21ef1fc4522aaa9c0f4d66095190c2
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/low_long_updown/2025-01-19_08-32-25_658406/pose.jsonl
@@ -0,0 +1,1217 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1661.6704570479542,
+            384.5477004617605,
+            24.9409175171225,
+            0.0
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1661.6704570479542,
+            384.5477004617605,
+            27.9409175171225,
+            0.0
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1661.6704570479542,
+            384.5477004617605,
+            30.9409175171225,
+            0.0
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1661.6704570479542,
+            384.5477004617605,
+            33.9409175171225,
+            0.0
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1661.6704570479542,
+            384.5477004617605,
+            36.9409175171225,
+            0.0
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1661.6704570479542,
+            384.5477004617605,
+            39.9409175171225,
+            0.0
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1661.6704570479542,
+            384.5477004617605,
+            42.9409175171225,
+            0.0
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1661.6704570479542,
+            384.5477004617605,
+            45.9409175171225,
+            0.0
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1661.6704570479542,
+            384.5477004617605,
+            48.9409175171225,
+            0.0
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1661.6704570479542,
+            384.5477004617605,
+            51.9409175171225,
+            0.0
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1661.6704570479542,
+            384.5477004617605,
+            54.9409175171225,
+            0.0
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1661.6704570479542,
+            384.5477004617605,
+            57.9409175171225,
+            0.0
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1661.6704570479542,
+            384.5477004617605,
+            60.9409175171225,
+            0.0
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1661.6704570479542,
+            384.5477004617605,
+            63.9409175171225,
+            0.0
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1661.6704570479542,
+            384.5477004617605,
+            66.9409175171225,
+            0.0
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1661.6704570479542,
+            384.5477004617605,
+            69.9409175171225,
+            0.0
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1661.6704570479542,
+            384.5477004617605,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1664.6704570479542,
+            384.5477004617605,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1667.6704570479542,
+            384.5477004617605,
+            72.9409175171225
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1667.6704570479542,
+            384.5477004617605,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1670.6704570479542,
+            384.5477004617605,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1673.6704570479542,
+            384.5477004617605,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1676.6704570479542,
+            384.5477004617605,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1679.6704570479542,
+            384.5477004617605,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1682.6704570479542,
+            384.5477004617605,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1685.6704570479542,
+            384.5477004617605,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1688.6704570479542,
+            384.5477004617605,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1691.6704570479542,
+            384.5477004617605,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1694.6704570479542,
+            384.5477004617605,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1697.6704570479542,
+            384.5477004617605,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1700.6704570479542,
+            384.5477004617605,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1703.6704570479542,
+            384.5477004617605,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1706.6704570479542,
+            384.5477004617605,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1709.6704570479542,
+            384.5477004617605,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1712.6704570479542,
+            384.5477004617605,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1715.6704570479542,
+            384.5477004617605,
+            75.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1715.6704570479542,
+            384.5477004617605,
+            75.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1715.6704570479542,
+            384.5477004617605,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1717.1704570479542,
+            381.94962425040717,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1718.6704570479542,
+            379.35154803905385,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1720.1704570479542,
+            376.75347182770054,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1721.6704570479542,
+            374.1553956163472,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1723.1704570479542,
+            371.5573194049939,
+            75.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1723.1704570479542,
+            371.5573194049939,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1725.7685332593076,
+            370.0573194049939,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1728.366609470661,
+            368.5573194049939,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1730.9646856820143,
+            367.0573194049939,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1733.5627618933677,
+            365.5573194049939,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1736.160838104721,
+            364.0573194049939,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1738.7589143160744,
+            362.5573194049939,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            1741.3569905274278,
+            361.0573194049939,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            1743.9550667387812,
+            359.5573194049939,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            1746.5531429501345,
+            358.0573194049939,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            1749.151219161488,
+            356.5573194049939,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            1751.7492953728413,
+            355.0573194049939,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            1754.3473715841947,
+            353.5573194049939,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            1756.945447795548,
+            352.0573194049939,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            1759.5435240069014,
+            350.5573194049939,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            1762.1416002182548,
+            349.0573194049939,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            1764.7396764296082,
+            347.5573194049939,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            1767.3377526409615,
+            346.0573194049939,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            1769.935828852315,
+            344.5573194049939,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            1772.5339050636683,
+            343.0573194049939,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            1775.1319812750216,
+            341.5573194049939,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            1777.730057486375,
+            340.0573194049939,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            1780.3281336977284,
+            338.5573194049939,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            1782.9262099090818,
+            337.0573194049939,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            1785.5242861204351,
+            335.5573194049939,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            1788.1223623317885,
+            334.0573194049939,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            1790.7204385431419,
+            332.5573194049939,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            1793.3185147544953,
+            331.0573194049939,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            1795.9165909658486,
+            329.5573194049939,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            1798.514667177202,
+            328.0573194049939,
+            75.9409175171225
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            1798.514667177202,
+            328.0573194049939,
+            72.9409175171225
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            1798.514667177202,
+            328.0573194049939,
+            69.9409175171225,
+            -0.5235987755982894
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            1798.514667177202,
+            328.0573194049939,
+            66.9409175171225,
+            -0.5235987755982894
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            1798.514667177202,
+            328.0573194049939,
+            63.9409175171225,
+            -0.5235987755982894
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            1798.514667177202,
+            328.0573194049939,
+            60.9409175171225,
+            -0.5235987755982894
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            1798.514667177202,
+            328.0573194049939,
+            57.9409175171225,
+            -0.5235987755982894
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            1798.514667177202,
+            328.0573194049939,
+            54.9409175171225,
+            -0.5235987755982894
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            1798.514667177202,
+            328.0573194049939,
+            51.9409175171225,
+            -0.5235987755982894
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 81,
+        "pos": [
+            1798.514667177202,
+            328.0573194049939,
+            48.9409175171225,
+            -0.5235987755982894
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 82,
+        "pos": [
+            1798.514667177202,
+            328.0573194049939,
+            45.9409175171225,
+            -0.5235987755982894
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 83,
+        "pos": [
+            1798.514667177202,
+            328.0573194049939,
+            42.9409175171225,
+            -0.5235987755982894
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 84,
+        "pos": [
+            1798.514667177202,
+            328.0573194049939,
+            39.9409175171225,
+            -0.5235987755982894
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 85,
+        "pos": [
+            1798.514667177202,
+            328.0573194049939,
+            36.9409175171225,
+            -0.5235987755982894
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 86,
+        "pos": [
+            1798.514667177202,
+            328.0573194049939,
+            33.9409175171225,
+            -0.5235987755982894
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 87,
+        "pos": [
+            1798.514667177202,
+            328.0573194049939,
+            30.9409175171225,
+            -0.5235987755982894
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 88,
+        "pos": [
+            1798.514667177202,
+            328.0573194049939,
+            27.9409175171225,
+            -0.5235987755982894
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 89,
+        "pos": [
+            1798.514667177202,
+            328.0573194049939,
+            24.9409175171225,
+            -0.5235987755982894
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1824.0,
+            320.0,
+            90.4344
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/low_long_updown/2025-01-19_08-36-42_727993/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long_updown/2025-01-19_08-36-42_727993/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2f90e65aac8dfe157741ba98c473699f2eb40fab
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/low_long_updown/2025-01-19_08-36-42_727993/pose.jsonl
@@ -0,0 +1,1074 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1270.3056379447535,
+            -770.8119027647919,
+            24.9409175171225,
+            -0.5235987755982894
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1270.3056379447535,
+            -770.8119027647919,
+            27.9409175171225,
+            -0.5235987755982894
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1270.3056379447535,
+            -770.8119027647919,
+            30.9409175171225,
+            -0.5235987755982894
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1270.3056379447535,
+            -770.8119027647919,
+            33.9409175171225,
+            -0.5235987755982894
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1270.3056379447535,
+            -770.8119027647919,
+            36.9409175171225,
+            -0.5235987755982894
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1270.3056379447535,
+            -770.8119027647919,
+            39.9409175171225,
+            -0.5235987755982894
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1270.3056379447535,
+            -770.8119027647919,
+            42.9409175171225,
+            -0.5235987755982894
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1270.3056379447535,
+            -770.8119027647919,
+            45.9409175171225,
+            -0.5235987755982894
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1270.3056379447535,
+            -770.8119027647919,
+            48.9409175171225,
+            -0.5235987755982894
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1270.3056379447535,
+            -770.8119027647919,
+            51.9409175171225,
+            -0.5235987755982894
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1270.3056379447535,
+            -770.8119027647919,
+            54.9409175171225,
+            -0.5235987755982894
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1270.3056379447535,
+            -770.8119027647919,
+            57.9409175171225,
+            -0.5235987755982894
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1270.3056379447535,
+            -770.8119027647919,
+            60.9409175171225,
+            -0.5235987755982894
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1270.3056379447535,
+            -770.8119027647919,
+            63.9409175171225,
+            -0.5235987755982894
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1270.3056379447535,
+            -770.8119027647919,
+            66.9409175171225,
+            -0.5235987755982894
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1270.3056379447535,
+            -770.8119027647919,
+            69.9409175171225,
+            -0.5235987755982894
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1270.3056379447535,
+            -770.8119027647919,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1272.9037141561068,
+            -772.3119027647919,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1275.5017903674602,
+            -773.8119027647919,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1278.0998665788136,
+            -775.3119027647919,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1280.697942790167,
+            -776.8119027647919,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1283.2960190015203,
+            -778.3119027647919,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1285.8940952128737,
+            -779.8119027647919,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1288.492171424227,
+            -781.3119027647919,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1291.0902476355805,
+            -782.8119027647919,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1293.6883238469338,
+            -784.3119027647919,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1296.2864000582872,
+            -785.8119027647919,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1298.8844762696406,
+            -787.3119027647919,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1301.482552480994,
+            -788.8119027647919,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1304.0806286923473,
+            -790.3119027647919,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1306.6787049037007,
+            -791.8119027647919,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1309.276781115054,
+            -793.3119027647919,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1311.8748573264074,
+            -794.8119027647919,
+            72.9409175171225
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1311.8748573264074,
+            -794.8119027647919,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1314.4729335377608,
+            -796.3119027647919,
+            75.9409175171225
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1314.4729335377608,
+            -796.3119027647919,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1317.0710097491142,
+            -797.8119027647919,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1319.6690859604676,
+            -799.3119027647919,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1322.267162171821,
+            -800.8119027647919,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1324.8652383831743,
+            -802.3119027647919,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1327.4633145945277,
+            -803.8119027647919,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1330.061390805881,
+            -805.3119027647919,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1332.6594670172344,
+            -806.8119027647919,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1335.2575432285878,
+            -808.3119027647919,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1337.8556194399412,
+            -809.8119027647919,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1340.4536956512945,
+            -811.3119027647919,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1343.051771862648,
+            -812.8119027647919,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1345.6498480740013,
+            -814.3119027647919,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1348.2479242853547,
+            -815.8119027647919,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1350.846000496708,
+            -817.3119027647919,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            1353.4440767080614,
+            -818.8119027647919,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            1356.0421529194148,
+            -820.3119027647919,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            1358.6402291307681,
+            -821.8119027647919,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            1361.2383053421215,
+            -823.3119027647919,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            1363.836381553475,
+            -824.8119027647919,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            1366.4344577648283,
+            -826.3119027647919,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            1369.0325339761816,
+            -827.8119027647919,
+            78.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            1371.630610187535,
+            -829.3119027647919,
+            78.9409175171225
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            1371.630610187535,
+            -829.3119027647919,
+            75.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            1371.630610187535,
+            -829.3119027647919,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            1374.630610187535,
+            -829.3119027647919,
+            75.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            1377.630610187535,
+            -829.3119027647919,
+            75.9409175171225
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            1377.630610187535,
+            -829.3119027647919,
+            72.9409175171225
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            1377.630610187535,
+            -829.3119027647919,
+            69.9409175171225,
+            0.0
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            1377.630610187535,
+            -829.3119027647919,
+            66.9409175171225,
+            0.0
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            1377.630610187535,
+            -829.3119027647919,
+            63.9409175171225,
+            0.0
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            1377.630610187535,
+            -829.3119027647919,
+            60.9409175171225,
+            0.0
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            1377.630610187535,
+            -829.3119027647919,
+            57.9409175171225,
+            0.0
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            1377.630610187535,
+            -829.3119027647919,
+            54.9409175171225,
+            0.0
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            1377.630610187535,
+            -829.3119027647919,
+            51.9409175171225,
+            0.0
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            1377.630610187535,
+            -829.3119027647919,
+            48.9409175171225,
+            0.0
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            1377.630610187535,
+            -829.3119027647919,
+            45.9409175171225,
+            0.0
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            1377.630610187535,
+            -829.3119027647919,
+            42.9409175171225,
+            0.0
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            1377.630610187535,
+            -829.3119027647919,
+            39.9409175171225,
+            0.0
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            1377.630610187535,
+            -829.3119027647919,
+            36.9409175171225,
+            0.0
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            1377.630610187535,
+            -829.3119027647919,
+            33.9409175171225,
+            0.0
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            1377.630610187535,
+            -829.3119027647919,
+            30.9409175171225,
+            0.0
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            1377.630610187535,
+            -829.3119027647919,
+            27.9409175171225,
+            0.0
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            1377.630610187535,
+            -829.3119027647919,
+            24.9409175171225,
+            0.0
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1412.0,
+            -848.0,
+            82.8932
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/low_long_updown/2025-1-14_13-42-3_2045826607/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long_updown/2025-1-14_13-42-3_2045826607/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a8b5d46e841f9ae4c0ce7afc80781706eaaf038a
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/low_long_updown/2025-1-14_13-42-3_2045826607/pose.jsonl
@@ -0,0 +1,1185 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1309.9336746866757,
+            -797.7540944791663,
+            24.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1309.9336746866757,
+            -797.7540944791663,
+            27.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1309.9336746866757,
+            -797.7540944791663,
+            30.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1309.9336746866757,
+            -797.7540944791663,
+            33.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1309.9336746866757,
+            -797.7540944791663,
+            36.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1309.9336746866757,
+            -797.7540944791663,
+            39.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1309.9336746866757,
+            -797.7540944791663,
+            42.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1309.9336746866757,
+            -797.7540944791663,
+            45.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1309.9336746866757,
+            -797.7540944791663,
+            48.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1309.9336746866757,
+            -797.7540944791663,
+            51.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1309.9336746866757,
+            -797.7540944791663,
+            54.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1309.9336746866757,
+            -797.7540944791663,
+            57.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1309.9336746866757,
+            -797.7540944791663,
+            60.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1309.9336746866757,
+            -797.7540944791663,
+            63.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1309.9336746866757,
+            -797.7540944791663,
+            66.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1309.9336746866757,
+            -797.7540944791663,
+            69.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1309.9336746866757,
+            -797.7540944791663,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1306.9336746866757,
+            -797.7540944791663,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1306.9336746866757,
+            -797.7540944791663,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1306.9336746866757,
+            -797.7540944791663,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1305.4336746866757,
+            -800.3521706905196,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1303.9336746866757,
+            -802.950246901873,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1302.4336746866757,
+            -805.5483231132264,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1300.9336746866757,
+            -808.1463993245798,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1299.4336746866757,
+            -810.7444755359331,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1297.9336746866757,
+            -813.3425517472865,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1296.4336746866757,
+            -815.9406279586399,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1294.9336746866757,
+            -818.5387041699933,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1293.4336746866757,
+            -821.1367803813466,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1291.9336746866757,
+            -823.7348565927,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1290.4336746866757,
+            -826.3329328040534,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1288.9336746866757,
+            -828.9310090154067,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1287.4336746866757,
+            -831.5290852267601,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1285.9336746866757,
+            -834.1271614381135,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1284.4336746866757,
+            -836.7252376494669,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1282.9336746866757,
+            -839.3233138608202,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1281.4336746866757,
+            -841.9213900721736,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1279.9336746866757,
+            -844.519466283527,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1278.4336746866757,
+            -847.1175424948804,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1276.9336746866757,
+            -849.7156187062337,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -1275.4336746866757,
+            -852.3136949175871,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -1273.9336746866757,
+            -854.9117711289405,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -1272.4336746866757,
+            -857.5098473402938,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -1270.9336746866757,
+            -860.1079235516472,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -1269.4336746866757,
+            -862.7059997630006,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -1267.9336746866757,
+            -865.304075974354,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -1266.4336746866757,
+            -867.9021521857073,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -1264.9336746866757,
+            -870.5002283970607,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -1263.4336746866757,
+            -873.0983046084141,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -1261.9336746866757,
+            -875.6963808197675,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -1260.4336746866757,
+            -878.2944570311208,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -1258.9336746866757,
+            -880.8925332424742,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -1257.4336746866757,
+            -883.4906094538276,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -1255.9336746866757,
+            -886.088685665181,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -1254.4336746866757,
+            -888.6867618765343,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -1254.4336746866757,
+            -888.6867618765343,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -1254.4336746866757,
+            -891.6867618765343,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -1254.4336746866757,
+            -894.6867618765343,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            -1254.4336746866757,
+            -897.6867618765343,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            -1254.4336746866757,
+            -900.6867618765343,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            -1254.4336746866757,
+            -903.6867618765343,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            -1254.4336746866757,
+            -906.6867618765343,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            -1254.4336746866757,
+            -909.6867618765343,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            -1254.4336746866757,
+            -912.6867618765343,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            -1254.4336746866757,
+            -915.6867618765343,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            -1254.4336746866757,
+            -918.6867618765343,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            -1254.4336746866757,
+            -921.6867618765343,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            -1254.4336746866757,
+            -924.6867618765343,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            -1254.4336746866757,
+            -927.6867618765343,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            -1254.4336746866757,
+            -930.6867618765343,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            -1254.4336746866757,
+            -933.6867618765343,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            -1254.4336746866757,
+            -936.6867618765343,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            -1254.4336746866757,
+            -939.6867618765343,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            -1254.4336746866757,
+            -942.6867618765343,
+            72.9409175171225
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            -1254.4336746866757,
+            -942.6867618765343,
+            69.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            -1254.4336746866757,
+            -942.6867618765343,
+            66.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            -1254.4336746866757,
+            -942.6867618765343,
+            63.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            -1254.4336746866757,
+            -942.6867618765343,
+            60.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            -1254.4336746866757,
+            -942.6867618765343,
+            57.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            -1254.4336746866757,
+            -942.6867618765343,
+            54.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            -1254.4336746866757,
+            -942.6867618765343,
+            51.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 81,
+        "pos": [
+            -1254.4336746866757,
+            -942.6867618765343,
+            48.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 82,
+        "pos": [
+            -1254.4336746866757,
+            -942.6867618765343,
+            45.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 83,
+        "pos": [
+            -1254.4336746866757,
+            -942.6867618765343,
+            42.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 84,
+        "pos": [
+            -1254.4336746866757,
+            -942.6867618765343,
+            39.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 85,
+        "pos": [
+            -1254.4336746866757,
+            -942.6867618765343,
+            36.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 86,
+        "pos": [
+            -1254.4336746866757,
+            -942.6867618765343,
+            33.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 87,
+        "pos": [
+            -1254.4336746866757,
+            -942.6867618765343,
+            30.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 88,
+        "pos": [
+            -1254.4336746866757,
+            -942.6867618765343,
+            27.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 89,
+        "pos": [
+            -1254.4336746866757,
+            -942.6867618765343,
+            24.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1248.0,
+            -964.0,
+            62.3689
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/low_long_updown/2025-1-14_15-40-0_114760235/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long_updown/2025-1-14_15-40-0_114760235/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..dfff3b4629fe173a79c474ed96acc58a0359091b
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/low_long_updown/2025-1-14_15-40-0_114760235/pose.jsonl
@@ -0,0 +1,899 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -529.0559164681235,
+            522.4118212139307,
+            24.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -529.0559164681235,
+            522.4118212139307,
+            27.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -529.0559164681235,
+            522.4118212139307,
+            30.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -529.0559164681235,
+            522.4118212139307,
+            33.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -529.0559164681235,
+            522.4118212139307,
+            36.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -529.0559164681235,
+            522.4118212139307,
+            39.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -529.0559164681235,
+            522.4118212139307,
+            42.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -529.0559164681235,
+            522.4118212139307,
+            45.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -529.0559164681235,
+            522.4118212139307,
+            48.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -529.0559164681235,
+            522.4118212139307,
+            51.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -529.0559164681235,
+            522.4118212139307,
+            54.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -529.0559164681235,
+            522.4118212139307,
+            57.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -529.0559164681235,
+            522.4118212139307,
+            60.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -529.0559164681235,
+            522.4118212139307,
+            63.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -529.0559164681235,
+            522.4118212139307,
+            66.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -529.0559164681235,
+            522.4118212139307,
+            69.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -529.0559164681235,
+            522.4118212139307,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -526.0559164681235,
+            522.4118212139307,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -526.0559164681235,
+            522.4118212139307,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -526.0559164681235,
+            522.4118212139307,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -526.0559164681235,
+            522.4118212139307,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -526.0559164681235,
+            519.4118212139307,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -526.0559164681235,
+            516.4118212139307,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -526.0559164681235,
+            513.4118212139307,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -526.0559164681235,
+            513.4118212139307,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -526.0559164681235,
+            513.4118212139307,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982989
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -523.4578402567702,
+            511.9118212139307,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -520.8597640454168,
+            510.4118212139307,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -518.2616878340634,
+            508.9118212139307,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -515.66361162271,
+            507.4118212139307,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -513.0655354113567,
+            505.9118212139307,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -510.46745920000336,
+            504.4118212139307,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -507.86938298865005,
+            502.9118212139307,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -505.27130677729673,
+            501.4118212139307,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -502.6732305659434,
+            499.9118212139307,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -500.0751543545901,
+            498.4118212139307,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -497.4770781432368,
+            496.9118212139307,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -494.87900193188347,
+            495.4118212139307,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -492.28092572053015,
+            493.9118212139307,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -489.68284950917683,
+            492.4118212139307,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -487.0847732978235,
+            490.9118212139307,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -484.4866970864702,
+            489.4118212139307,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -481.8886208751169,
+            487.9118212139307,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -479.29054466376357,
+            486.4118212139307,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -476.69246845241025,
+            484.9118212139307,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -474.09439224105694,
+            483.4118212139307,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -471.4963160297036,
+            481.9118212139307,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -468.8982398183503,
+            480.4118212139307,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -466.300163606997,
+            478.9118212139307,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -463.7020873956437,
+            477.4118212139307,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -463.7020873956437,
+            477.4118212139307,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -460.7020873956437,
+            477.4118212139307,
+            72.9409175171225
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -460.7020873956437,
+            477.4118212139307,
+            69.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -460.7020873956437,
+            477.4118212139307,
+            66.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -460.7020873956437,
+            477.4118212139307,
+            63.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -460.7020873956437,
+            477.4118212139307,
+            60.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -460.7020873956437,
+            477.4118212139307,
+            57.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -460.7020873956437,
+            477.4118212139307,
+            54.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            -460.7020873956437,
+            477.4118212139307,
+            51.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            -460.7020873956437,
+            477.4118212139307,
+            48.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            -460.7020873956437,
+            477.4118212139307,
+            45.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            -460.7020873956437,
+            477.4118212139307,
+            42.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            -460.7020873956437,
+            477.4118212139307,
+            39.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            -460.7020873956437,
+            477.4118212139307,
+            36.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            -460.7020873956437,
+            477.4118212139307,
+            33.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            -460.7020873956437,
+            477.4118212139307,
+            30.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            -460.7020873956437,
+            477.4118212139307,
+            27.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            -460.7020873956437,
+            477.4118212139307,
+            24.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -400.0,
+            440.0,
+            80.5239
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/low_long_updown/2025-1-14_17-36-23_1470332231/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long_updown/2025-1-14_17-36-23_1470332231/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a54c81263781440bee130b98b1c44a87cf19aa0f
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/low_long_updown/2025-1-14_17-36-23_1470332231/pose.jsonl
@@ -0,0 +1,1172 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            757.4748969021435,
+            424.26058280079184,
+            24.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            757.4748969021435,
+            424.26058280079184,
+            27.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            757.4748969021435,
+            424.26058280079184,
+            30.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            757.4748969021435,
+            424.26058280079184,
+            33.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            757.4748969021435,
+            424.26058280079184,
+            36.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            757.4748969021435,
+            424.26058280079184,
+            39.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            757.4748969021435,
+            424.26058280079184,
+            42.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            757.4748969021435,
+            424.26058280079184,
+            45.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            757.4748969021435,
+            424.26058280079184,
+            48.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            757.4748969021435,
+            424.26058280079184,
+            51.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            757.4748969021435,
+            424.26058280079184,
+            54.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            757.4748969021435,
+            424.26058280079184,
+            57.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            757.4748969021435,
+            424.26058280079184,
+            60.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            757.4748969021435,
+            424.26058280079184,
+            63.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            757.4748969021435,
+            424.26058280079184,
+            66.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            757.4748969021435,
+            424.26058280079184,
+            69.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            757.4748969021435,
+            424.26058280079184,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            755.9748969021435,
+            426.85865901214515,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            754.4748969021435,
+            429.45673522349847,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            752.9748969021435,
+            432.0548114348518,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            751.4748969021435,
+            434.6528876462051,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            749.9748969021435,
+            437.2509638575584,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            748.4748969021435,
+            439.84904006891173,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            746.9748969021435,
+            442.44711628026505,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            745.4748969021435,
+            445.04519249161837,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            743.9748969021435,
+            447.6432687029717,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            742.4748969021435,
+            450.241344914325,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            740.9748969021435,
+            452.8394211256783,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            739.4748969021435,
+            455.43749733703163,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            737.9748969021435,
+            458.03557354838495,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            736.4748969021435,
+            460.63364975973826,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            734.9748969021435,
+            463.2317259710916,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            733.4748969021435,
+            465.8298021824449,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            731.9748969021435,
+            468.4278783937982,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            730.4748969021435,
+            471.0259546051515,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            728.9748969021435,
+            473.62403081650484,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            727.4748969021435,
+            476.22210702785816,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            725.9748969021435,
+            478.8201832392115,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            725.9748969021435,
+            478.8201832392115,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            723.3768206907903,
+            480.3201832392115,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            720.7787444794369,
+            481.8201832392115,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            718.1806682680835,
+            483.3201832392115,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            715.5825920567302,
+            484.8201832392115,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            712.9845158453768,
+            486.3201832392115,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            710.3864396340234,
+            487.8201832392115,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            710.3864396340234,
+            487.8201832392115,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            708.8864396340234,
+            490.4182594505648,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            707.3864396340234,
+            493.0163356619181,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            705.8864396340234,
+            495.6144118732714,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            704.3864396340234,
+            498.21248808462474,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            702.8864396340234,
+            500.81056429597805,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            701.3864396340234,
+            503.40864050733137,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            699.8864396340234,
+            506.0067167186847,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            699.8864396340234,
+            506.0067167186847,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            697.28836342267,
+            507.5067167186847,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            697.28836342267,
+            507.5067167186847,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            697.28836342267,
+            507.5067167186847,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.570796326794906
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            697.28836342267,
+            510.5067167186847,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            697.28836342267,
+            513.5067167186846,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            697.28836342267,
+            516.5067167186846,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            697.28836342267,
+            519.5067167186846,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            697.28836342267,
+            522.5067167186846,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            697.28836342267,
+            525.5067167186846,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            697.28836342267,
+            528.5067167186846,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            697.28836342267,
+            531.5067167186846,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            697.28836342267,
+            534.5067167186846,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            697.28836342267,
+            537.5067167186846,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            697.28836342267,
+            540.5067167186846,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            697.28836342267,
+            543.5067167186846,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            697.28836342267,
+            546.5067167186846,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            697.28836342267,
+            549.5067167186846,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            697.28836342267,
+            552.5067167186846,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            697.28836342267,
+            555.5067167186846,
+            72.9409175171225
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            697.28836342267,
+            555.5067167186846,
+            69.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            697.28836342267,
+            555.5067167186846,
+            66.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            697.28836342267,
+            555.5067167186846,
+            63.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            697.28836342267,
+            555.5067167186846,
+            60.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            697.28836342267,
+            555.5067167186846,
+            57.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            697.28836342267,
+            555.5067167186846,
+            54.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            697.28836342267,
+            555.5067167186846,
+            51.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            697.28836342267,
+            555.5067167186846,
+            48.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 81,
+        "pos": [
+            697.28836342267,
+            555.5067167186846,
+            45.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 82,
+        "pos": [
+            697.28836342267,
+            555.5067167186846,
+            42.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 83,
+        "pos": [
+            697.28836342267,
+            555.5067167186846,
+            39.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 84,
+        "pos": [
+            697.28836342267,
+            555.5067167186846,
+            36.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 85,
+        "pos": [
+            697.28836342267,
+            555.5067167186846,
+            33.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 86,
+        "pos": [
+            697.28836342267,
+            555.5067167186846,
+            30.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 87,
+        "pos": [
+            697.28836342267,
+            555.5067167186846,
+            27.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 88,
+        "pos": [
+            697.28836342267,
+            555.5067167186846,
+            24.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            688.0,
+            576.0,
+            114.012
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/low_long_updown/2025-1-14_18-21-15_1088590930/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long_updown/2025-1-14_18-21-15_1088590930/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..311a6f947b2d339179e679a3d47ba85ad0408b24
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/low_long_updown/2025-1-14_18-21-15_1088590930/pose.jsonl
@@ -0,0 +1,1107 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            381.04630735589296,
+            -352.2915056129114,
+            24.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            381.04630735589296,
+            -352.2915056129114,
+            27.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            381.04630735589296,
+            -352.2915056129114,
+            30.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            381.04630735589296,
+            -352.2915056129114,
+            33.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            381.04630735589296,
+            -352.2915056129114,
+            36.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            381.04630735589296,
+            -352.2915056129114,
+            39.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            381.04630735589296,
+            -352.2915056129114,
+            42.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            381.04630735589296,
+            -352.2915056129114,
+            45.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            381.04630735589296,
+            -352.2915056129114,
+            48.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            381.04630735589296,
+            -352.2915056129114,
+            51.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            381.04630735589296,
+            -352.2915056129114,
+            54.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            381.04630735589296,
+            -352.2915056129114,
+            57.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            381.04630735589296,
+            -352.2915056129114,
+            60.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            381.04630735589296,
+            -352.2915056129114,
+            63.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            381.04630735589296,
+            -352.2915056129114,
+            66.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            381.04630735589296,
+            -352.2915056129114,
+            69.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            381.04630735589296,
+            -352.2915056129114,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            384.04630735589296,
+            -352.2915056129114,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            387.04630735589296,
+            -352.2915056129114,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            390.04630735589296,
+            -352.2915056129114,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            393.04630735589296,
+            -352.2915056129114,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            396.04630735589296,
+            -352.2915056129114,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            399.04630735589296,
+            -352.2915056129114,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            402.04630735589296,
+            -352.2915056129114,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            405.04630735589296,
+            -352.2915056129114,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            408.04630735589296,
+            -352.2915056129114,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            411.04630735589296,
+            -352.2915056129114,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            414.04630735589296,
+            -352.2915056129114,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            417.04630735589296,
+            -352.2915056129114,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            420.04630735589296,
+            -352.2915056129114,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            423.04630735589296,
+            -352.2915056129114,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            426.04630735589296,
+            -352.2915056129114,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            429.04630735589296,
+            -352.2915056129114,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            432.04630735589296,
+            -352.2915056129114,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            432.04630735589296,
+            -352.2915056129114,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            434.6443835672463,
+            -350.7915056129114,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            437.2424597785996,
+            -349.2915056129114,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            439.8405359899529,
+            -347.7915056129114,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            439.8405359899529,
+            -347.7915056129114,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            441.3405359899529,
+            -345.1934294015581,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            442.8405359899529,
+            -342.5953531902048,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            442.8405359899529,
+            -342.5953531902048,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            445.4386122013062,
+            -341.0953531902048,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            445.4386122013062,
+            -341.0953531902048,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            448.4386122013062,
+            -341.0953531902048,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            451.4386122013062,
+            -341.0953531902048,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            454.4386122013062,
+            -341.0953531902048,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            457.4386122013062,
+            -341.0953531902048,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            460.4386122013062,
+            -341.0953531902048,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            463.4386122013062,
+            -341.0953531902048,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            466.4386122013062,
+            -341.0953531902048,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            469.4386122013062,
+            -341.0953531902048,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            472.4386122013062,
+            -341.0953531902048,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            475.4386122013062,
+            -341.0953531902048,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            478.4386122013062,
+            -341.0953531902048,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            481.4386122013062,
+            -341.0953531902048,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            484.4386122013062,
+            -341.0953531902048,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            487.4386122013062,
+            -341.0953531902048,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            490.4386122013062,
+            -341.0953531902048,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            493.4386122013062,
+            -341.0953531902048,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            493.4386122013062,
+            -341.0953531902048,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            496.03668841265954,
+            -342.5953531902048,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            498.63476462401286,
+            -344.0953531902048,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            501.2328408353662,
+            -345.5953531902048,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            503.8309170467195,
+            -347.0953531902048,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            506.4289932580728,
+            -348.5953531902048,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            509.0270694694261,
+            -350.0953531902048,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            511.62514568077944,
+            -351.5953531902048,
+            72.9409175171225
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            511.62514568077944,
+            -351.5953531902048,
+            69.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            511.62514568077944,
+            -351.5953531902048,
+            66.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            511.62514568077944,
+            -351.5953531902048,
+            63.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            511.62514568077944,
+            -351.5953531902048,
+            60.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            511.62514568077944,
+            -351.5953531902048,
+            57.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            511.62514568077944,
+            -351.5953531902048,
+            54.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            511.62514568077944,
+            -351.5953531902048,
+            51.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            511.62514568077944,
+            -351.5953531902048,
+            48.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            511.62514568077944,
+            -351.5953531902048,
+            45.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            511.62514568077944,
+            -351.5953531902048,
+            42.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            511.62514568077944,
+            -351.5953531902048,
+            39.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            511.62514568077944,
+            -351.5953531902048,
+            36.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            511.62514568077944,
+            -351.5953531902048,
+            33.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 81,
+        "pos": [
+            511.62514568077944,
+            -351.5953531902048,
+            30.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 82,
+        "pos": [
+            511.62514568077944,
+            -351.5953531902048,
+            27.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 83,
+        "pos": [
+            511.62514568077944,
+            -351.5953531902048,
+            24.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            560.0,
+            -352.0,
+            110.352
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/low_long_updown/2025-1-14_18-28-32_1351538839/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long_updown/2025-1-14_18-28-32_1351538839/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..259654de7370ffa9409ca833455bf55d494827f9
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/low_long_updown/2025-1-14_18-28-32_1351538839/pose.jsonl
@@ -0,0 +1,1224 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -188.25677979608784,
+            90.59595020330676,
+            24.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -188.25677979608784,
+            90.59595020330676,
+            27.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -188.25677979608784,
+            90.59595020330676,
+            30.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -188.25677979608784,
+            90.59595020330676,
+            33.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -188.25677979608784,
+            90.59595020330676,
+            36.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -188.25677979608784,
+            90.59595020330676,
+            39.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -188.25677979608784,
+            90.59595020330676,
+            42.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -188.25677979608784,
+            90.59595020330676,
+            45.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -188.25677979608784,
+            90.59595020330676,
+            48.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -188.25677979608784,
+            90.59595020330676,
+            51.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -188.25677979608784,
+            90.59595020330676,
+            54.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -188.25677979608784,
+            90.59595020330676,
+            57.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -188.25677979608784,
+            90.59595020330676,
+            60.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -188.25677979608784,
+            90.59595020330676,
+            63.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -188.25677979608784,
+            90.59595020330676,
+            66.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -188.25677979608784,
+            90.59595020330676,
+            69.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -188.25677979608784,
+            90.59595020330676,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -189.75677979608784,
+            87.99787399195344,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -191.25677979608784,
+            85.39979778060012,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -192.75677979608784,
+            82.80172156924681,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -194.25677979608784,
+            80.20364535789349,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -195.75677979608784,
+            77.60556914654018,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -197.25677979608784,
+            75.00749293518686,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -198.75677979608784,
+            72.40941672383354,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -200.25677979608784,
+            69.81134051248023,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -201.75677979608784,
+            67.21326430112691,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -203.25677979608784,
+            64.6151880897736,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -204.75677979608784,
+            62.01711187842028,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -206.25677979608784,
+            59.419035667066964,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -207.75677979608784,
+            56.82095945571365,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -209.25677979608784,
+            54.22288324436033,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -210.75677979608784,
+            51.624807033007016,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -212.25677979608784,
+            49.0267308216537,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -213.75677979608784,
+            46.428654610300384,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -215.25677979608784,
+            43.83057839894707,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -216.75677979608784,
+            41.23250218759375,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -218.25677979608784,
+            38.634425976240436,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -218.25677979608784,
+            38.634425976240436,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -218.25677979608784,
+            35.634425976240436,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -218.25677979608784,
+            32.634425976240436,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -218.25677979608784,
+            29.634425976240436,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -218.25677979608784,
+            26.634425976240436,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -218.25677979608784,
+            23.634425976240436,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -218.25677979608784,
+            20.634425976240436,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -218.25677979608784,
+            17.634425976240436,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -218.25677979608784,
+            14.634425976240436,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -218.25677979608784,
+            11.634425976240436,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -218.25677979608784,
+            8.634425976240436,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -218.25677979608784,
+            5.634425976240436,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -218.25677979608784,
+            2.6344259762404363,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -218.25677979608784,
+            -0.3655740237595637,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -218.25677979608784,
+            -3.3655740237595637,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -218.25677979608784,
+            -6.365574023759564,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -218.25677979608784,
+            -9.365574023759564,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -218.25677979608784,
+            -12.365574023759564,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -218.25677979608784,
+            -15.365574023759564,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -218.25677979608784,
+            -18.365574023759564,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -218.25677979608784,
+            -21.365574023759564,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            -218.25677979608784,
+            -21.365574023759564,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            -216.75677979608784,
+            -23.96365023511288,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            -215.25677979608784,
+            -26.561726446466196,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            -213.75677979608784,
+            -29.15980265781951,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            -212.25677979608784,
+            -31.757878869172828,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            -210.75677979608784,
+            -34.355955080526144,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            -209.25677979608784,
+            -36.95403129187946,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            -207.75677979608784,
+            -39.552107503232776,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            -206.25677979608784,
+            -42.15018371458609,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            -204.75677979608784,
+            -44.74825992593941,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            -203.25677979608784,
+            -47.346336137292724,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            -201.75677979608784,
+            -49.94441234864604,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            -200.25677979608784,
+            -52.542488559999356,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            -198.75677979608784,
+            -55.14056477135267,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            -197.25677979608784,
+            -57.73864098270599,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            -195.75677979608784,
+            -60.336717194059304,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            -194.25677979608784,
+            -62.93479340541262,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            -192.75677979608784,
+            -65.53286961676594,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            -191.25677979608784,
+            -68.13094582811925,
+            72.9409175171225
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            -191.25677979608784,
+            -68.13094582811925,
+            69.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            -191.25677979608784,
+            -68.13094582811925,
+            66.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            -191.25677979608784,
+            -68.13094582811925,
+            63.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            -191.25677979608784,
+            -68.13094582811925,
+            60.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 81,
+        "pos": [
+            -191.25677979608784,
+            -68.13094582811925,
+            57.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 82,
+        "pos": [
+            -191.25677979608784,
+            -68.13094582811925,
+            54.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 83,
+        "pos": [
+            -191.25677979608784,
+            -68.13094582811925,
+            51.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 84,
+        "pos": [
+            -191.25677979608784,
+            -68.13094582811925,
+            48.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 85,
+        "pos": [
+            -191.25677979608784,
+            -68.13094582811925,
+            45.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 86,
+        "pos": [
+            -191.25677979608784,
+            -68.13094582811925,
+            42.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 87,
+        "pos": [
+            -191.25677979608784,
+            -68.13094582811925,
+            39.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 88,
+        "pos": [
+            -191.25677979608784,
+            -68.13094582811925,
+            36.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 89,
+        "pos": [
+            -191.25677979608784,
+            -68.13094582811925,
+            33.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 90,
+        "pos": [
+            -191.25677979608784,
+            -68.13094582811925,
+            30.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 91,
+        "pos": [
+            -191.25677979608784,
+            -68.13094582811925,
+            27.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 92,
+        "pos": [
+            -191.25677979608784,
+            -68.13094582811925,
+            24.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -192.0,
+            -88.0,
+            141.554
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/low_long_updown/2025-1-14_19-20-8_1151297278/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long_updown/2025-1-14_19-20-8_1151297278/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a6b4aa600a37f947f4b4af853afd4b2a88ed5c76
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/low_long_updown/2025-1-14_19-20-8_1151297278/pose.jsonl
@@ -0,0 +1,1133 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -953.4324839563192,
+            1440.6001415642343,
+            24.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -953.4324839563192,
+            1440.6001415642343,
+            27.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -953.4324839563192,
+            1440.6001415642343,
+            30.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -953.4324839563192,
+            1440.6001415642343,
+            33.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -953.4324839563192,
+            1440.6001415642343,
+            36.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -953.4324839563192,
+            1440.6001415642343,
+            39.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -953.4324839563192,
+            1440.6001415642343,
+            42.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -953.4324839563192,
+            1440.6001415642343,
+            45.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -953.4324839563192,
+            1440.6001415642343,
+            48.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -953.4324839563192,
+            1440.6001415642343,
+            51.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -953.4324839563192,
+            1440.6001415642343,
+            54.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -953.4324839563192,
+            1440.6001415642343,
+            57.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -953.4324839563192,
+            1440.6001415642343,
+            60.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -953.4324839563192,
+            1440.6001415642343,
+            63.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -953.4324839563192,
+            1440.6001415642343,
+            66.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -953.4324839563192,
+            1440.6001415642343,
+            69.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -953.4324839563192,
+            1440.6001415642343,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -954.9324839563192,
+            1438.002065352881,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -956.4324839563192,
+            1435.4039891415275,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -957.9324839563192,
+            1432.8059129301741,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -959.4324839563192,
+            1430.2078367188208,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -960.9324839563192,
+            1427.6097605074674,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -962.4324839563192,
+            1425.011684296114,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -963.9324839563192,
+            1422.4136080847607,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -965.4324839563192,
+            1419.8155318734073,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -966.9324839563192,
+            1417.217455662054,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -968.4324839563192,
+            1414.6193794507005,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -969.9324839563192,
+            1412.0213032393472,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -971.4324839563192,
+            1409.4232270279938,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -972.9324839563192,
+            1406.8251508166404,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -974.4324839563192,
+            1404.227074605287,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -975.9324839563192,
+            1401.6289983939337,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -975.9324839563192,
+            1401.6289983939337,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -975.9324839563192,
+            1398.6289983939337,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -975.9324839563192,
+            1395.6289983939337,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -975.9324839563192,
+            1392.6289983939337,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -975.9324839563192,
+            1389.6289983939337,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -975.9324839563192,
+            1386.6289983939337,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -975.9324839563192,
+            1383.6289983939337,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -975.9324839563192,
+            1380.6289983939337,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -975.9324839563192,
+            1377.6289983939337,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -975.9324839563192,
+            1374.6289983939337,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -975.9324839563192,
+            1371.6289983939337,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -975.9324839563192,
+            1368.6289983939337,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -975.9324839563192,
+            1365.6289983939337,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -975.9324839563192,
+            1362.6289983939337,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -975.9324839563192,
+            1359.6289983939337,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -975.9324839563192,
+            1356.6289983939337,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -975.9324839563192,
+            1353.6289983939337,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -975.9324839563192,
+            1350.6289983939337,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -975.9324839563192,
+            1347.6289983939337,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -975.9324839563192,
+            1344.6289983939337,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -975.9324839563192,
+            1341.6289983939337,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -975.9324839563192,
+            1338.6289983939337,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -975.9324839563192,
+            1335.6289983939337,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -975.9324839563192,
+            1332.6289983939337,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -975.9324839563192,
+            1329.6289983939337,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -975.9324839563192,
+            1326.6289983939337,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            -975.9324839563192,
+            1323.6289983939337,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            -975.9324839563192,
+            1320.6289983939337,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            -975.9324839563192,
+            1317.6289983939337,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            -975.9324839563192,
+            1317.6289983939337,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            -977.4324839563192,
+            1315.0309221825803,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            -978.9324839563192,
+            1312.432845971227,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            -980.4324839563192,
+            1309.8347697598736,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            -981.9324839563192,
+            1307.2366935485202,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            -983.4324839563192,
+            1304.6386173371668,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            -984.9324839563192,
+            1302.0405411258134,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            -986.4324839563192,
+            1299.44246491446,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            -987.9324839563192,
+            1296.8443887031067,
+            72.9409175171225
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            -987.9324839563192,
+            1296.8443887031067,
+            69.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            -987.9324839563192,
+            1296.8443887031067,
+            66.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            -987.9324839563192,
+            1296.8443887031067,
+            63.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            -987.9324839563192,
+            1296.8443887031067,
+            60.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            -987.9324839563192,
+            1296.8443887031067,
+            57.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            -987.9324839563192,
+            1296.8443887031067,
+            54.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            -987.9324839563192,
+            1296.8443887031067,
+            51.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            -987.9324839563192,
+            1296.8443887031067,
+            48.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            -987.9324839563192,
+            1296.8443887031067,
+            45.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            -987.9324839563192,
+            1296.8443887031067,
+            42.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            -987.9324839563192,
+            1296.8443887031067,
+            39.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 81,
+        "pos": [
+            -987.9324839563192,
+            1296.8443887031067,
+            36.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 82,
+        "pos": [
+            -987.9324839563192,
+            1296.8443887031067,
+            33.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 83,
+        "pos": [
+            -987.9324839563192,
+            1296.8443887031067,
+            30.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 84,
+        "pos": [
+            -987.9324839563192,
+            1296.8443887031067,
+            27.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 85,
+        "pos": [
+            -987.9324839563192,
+            1296.8443887031067,
+            24.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -992.0,
+            1280.0,
+            62.5001
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/low_long_updown/2025-1-14_19-5-49_1844400657/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long_updown/2025-1-14_19-5-49_1844400657/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a139f77dbbb0d53142cc490fafa043d2e2fc0cea
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/low_long_updown/2025-1-14_19-5-49_1844400657/pose.jsonl
@@ -0,0 +1,1185 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            235.91400144898304,
+            -336.26361783561947,
+            24.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            235.91400144898304,
+            -336.26361783561947,
+            27.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            235.91400144898304,
+            -336.26361783561947,
+            30.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            235.91400144898304,
+            -336.26361783561947,
+            33.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            235.91400144898304,
+            -336.26361783561947,
+            36.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            235.91400144898304,
+            -336.26361783561947,
+            39.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            235.91400144898304,
+            -336.26361783561947,
+            42.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            235.91400144898304,
+            -336.26361783561947,
+            45.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            235.91400144898304,
+            -336.26361783561947,
+            48.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            235.91400144898304,
+            -336.26361783561947,
+            51.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            235.91400144898304,
+            -336.26361783561947,
+            54.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            235.91400144898304,
+            -336.26361783561947,
+            57.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            235.91400144898304,
+            -336.26361783561947,
+            60.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            235.91400144898304,
+            -336.26361783561947,
+            63.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            235.91400144898304,
+            -336.26361783561947,
+            66.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            235.91400144898304,
+            -336.26361783561947,
+            69.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            235.91400144898304,
+            -336.26361783561947,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            234.41400144898304,
+            -338.8616940469728,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            232.91400144898304,
+            -341.4597702583261,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            231.41400144898304,
+            -344.0578464696794,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            229.91400144898304,
+            -346.65592268103273,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            228.41400144898304,
+            -349.25399889238605,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            226.91400144898304,
+            -351.85207510373937,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            225.41400144898304,
+            -354.4501513150927,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            223.91400144898304,
+            -357.048227526446,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            222.41400144898304,
+            -359.6463037377993,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            220.91400144898304,
+            -362.24437994915263,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            219.41400144898304,
+            -364.84245616050595,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            217.91400144898304,
+            -367.44053237185926,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            217.91400144898304,
+            -367.44053237185926,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            215.31592523762973,
+            -368.94053237185926,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            215.31592523762973,
+            -368.94053237185926,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            213.81592523762973,
+            -371.5386085832126,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            212.31592523762973,
+            -374.1366847945659,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            212.31592523762973,
+            -374.1366847945659,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            212.31592523762973,
+            -377.1366847945659,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            212.31592523762973,
+            -380.1366847945659,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            212.31592523762973,
+            -383.1366847945659,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            212.31592523762973,
+            -386.1366847945659,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            212.31592523762973,
+            -389.1366847945659,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            212.31592523762973,
+            -389.1366847945659,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            213.81592523762973,
+            -391.7347610059192,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            215.31592523762973,
+            -394.3328372172725,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            216.81592523762973,
+            -396.93091342862584,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            218.31592523762973,
+            -399.52898963997916,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            219.81592523762973,
+            -402.1270658513325,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            221.31592523762973,
+            -404.7251420626858,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            222.81592523762973,
+            -407.3232182740391,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            224.31592523762973,
+            -409.9212944853924,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            225.81592523762973,
+            -412.51937069674574,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            227.31592523762973,
+            -415.11744690809905,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            228.81592523762973,
+            -417.71552311945237,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            230.31592523762973,
+            -420.3135993308057,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            231.81592523762973,
+            -422.911675542159,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            233.31592523762973,
+            -425.5097517535123,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            234.81592523762973,
+            -428.10782796486563,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            236.31592523762973,
+            -430.70590417621895,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            237.81592523762973,
+            -433.30398038757227,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            239.31592523762973,
+            -435.9020565989256,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            240.81592523762973,
+            -438.5001328102789,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            242.31592523762973,
+            -441.0982090216322,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            243.81592523762973,
+            -443.69628523298553,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            245.31592523762973,
+            -446.29436144433885,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            246.81592523762973,
+            -448.89243765569216,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            248.31592523762973,
+            -451.4905138670455,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            248.31592523762973,
+            -451.4905138670455,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            248.31592523762973,
+            -454.4905138670455,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            248.31592523762973,
+            -457.4905138670455,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            248.31592523762973,
+            -460.4905138670455,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            248.31592523762973,
+            -463.4905138670455,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            248.31592523762973,
+            -466.4905138670455,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            248.31592523762973,
+            -469.4905138670455,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            248.31592523762973,
+            -472.4905138670455,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            248.31592523762973,
+            -475.4905138670455,
+            72.9409175171225
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            248.31592523762973,
+            -475.4905138670455,
+            69.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            248.31592523762973,
+            -475.4905138670455,
+            66.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            248.31592523762973,
+            -475.4905138670455,
+            63.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            248.31592523762973,
+            -475.4905138670455,
+            60.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            248.31592523762973,
+            -475.4905138670455,
+            57.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            248.31592523762973,
+            -475.4905138670455,
+            54.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            248.31592523762973,
+            -475.4905138670455,
+            51.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 81,
+        "pos": [
+            248.31592523762973,
+            -475.4905138670455,
+            48.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 82,
+        "pos": [
+            248.31592523762973,
+            -475.4905138670455,
+            45.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 83,
+        "pos": [
+            248.31592523762973,
+            -475.4905138670455,
+            42.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 84,
+        "pos": [
+            248.31592523762973,
+            -475.4905138670455,
+            39.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 85,
+        "pos": [
+            248.31592523762973,
+            -475.4905138670455,
+            36.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 86,
+        "pos": [
+            248.31592523762973,
+            -475.4905138670455,
+            33.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 87,
+        "pos": [
+            248.31592523762973,
+            -475.4905138670455,
+            30.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 88,
+        "pos": [
+            248.31592523762973,
+            -475.4905138670455,
+            27.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 89,
+        "pos": [
+            248.31592523762973,
+            -475.4905138670455,
+            24.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            248.0,
+            -496.0,
+            64.7722
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/low_long_updown/2025-1-14_20-33-17_1978701535/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long_updown/2025-1-14_20-33-17_1978701535/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..33b872cf1494aee61e6f35e91686668322ebe166
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/low_long_updown/2025-1-14_20-33-17_1978701535/pose.jsonl
@@ -0,0 +1,925 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            15.86852183537134,
+            1706.4108491138695,
+            24.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            15.86852183537134,
+            1706.4108491138695,
+            27.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            15.86852183537134,
+            1706.4108491138695,
+            30.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            15.86852183537134,
+            1706.4108491138695,
+            33.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            15.86852183537134,
+            1706.4108491138695,
+            36.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            15.86852183537134,
+            1706.4108491138695,
+            39.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            15.86852183537134,
+            1706.4108491138695,
+            42.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            15.86852183537134,
+            1706.4108491138695,
+            45.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            15.86852183537134,
+            1706.4108491138695,
+            48.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            15.86852183537134,
+            1706.4108491138695,
+            51.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            15.86852183537134,
+            1706.4108491138695,
+            54.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            15.86852183537134,
+            1706.4108491138695,
+            57.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            15.86852183537134,
+            1706.4108491138695,
+            60.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            15.86852183537134,
+            1706.4108491138695,
+            63.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            15.86852183537134,
+            1706.4108491138695,
+            66.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            15.86852183537134,
+            1706.4108491138695,
+            69.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            15.86852183537134,
+            1706.4108491138695,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            17.36852183537134,
+            1709.008925325223,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            18.86852183537134,
+            1711.6070015365763,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            20.36852183537134,
+            1714.2050777479296,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            21.86852183537134,
+            1716.803153959283,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            23.36852183537134,
+            1719.4012301706364,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            24.86852183537134,
+            1721.9993063819898,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            26.36852183537134,
+            1724.5973825933431,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            27.86852183537134,
+            1727.1954588046965,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            29.36852183537134,
+            1729.7935350160499,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            30.86852183537134,
+            1732.3916112274032,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            32.36852183537134,
+            1734.9896874387566,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            33.86852183537134,
+            1737.58776365011,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            35.36852183537134,
+            1740.1858398614634,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            36.86852183537134,
+            1742.7839160728167,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            38.36852183537134,
+            1745.38199228417,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            39.86852183537134,
+            1747.9800684955235,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            41.36852183537134,
+            1750.5781447068769,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            42.86852183537134,
+            1753.1762209182302,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            44.36852183537134,
+            1755.7742971295836,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            45.86852183537134,
+            1758.372373340937,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            47.36852183537134,
+            1760.9704495522903,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            48.86852183537134,
+            1763.5685257636437,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            50.36852183537134,
+            1766.166601974997,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            51.86852183537134,
+            1768.7646781863505,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            53.36852183537134,
+            1771.3627543977038,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            54.86852183537134,
+            1773.9608306090572,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            56.36852183537134,
+            1776.5589068204106,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            56.36852183537134,
+            1776.5589068204106,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            58.966598046724656,
+            1778.0589068204106,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            58.966598046724656,
+            1778.0589068204106,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            60.466598046724656,
+            1780.656983031764,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            61.966598046724656,
+            1783.2550592431173,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            63.466598046724656,
+            1785.8531354544707,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            64.96659804672466,
+            1788.451211665824,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            66.46659804672466,
+            1791.0492878771774,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            67.96659804672466,
+            1793.6473640885308,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            69.46659804672466,
+            1796.2454402998842,
+            72.9409175171225
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            69.46659804672466,
+            1796.2454402998842,
+            69.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            69.46659804672466,
+            1796.2454402998842,
+            66.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            69.46659804672466,
+            1796.2454402998842,
+            63.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            69.46659804672466,
+            1796.2454402998842,
+            60.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            69.46659804672466,
+            1796.2454402998842,
+            57.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            69.46659804672466,
+            1796.2454402998842,
+            54.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            69.46659804672466,
+            1796.2454402998842,
+            51.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            69.46659804672466,
+            1796.2454402998842,
+            48.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            69.46659804672466,
+            1796.2454402998842,
+            45.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            69.46659804672466,
+            1796.2454402998842,
+            42.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            69.46659804672466,
+            1796.2454402998842,
+            39.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            69.46659804672466,
+            1796.2454402998842,
+            36.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            69.46659804672466,
+            1796.2454402998842,
+            33.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            69.46659804672466,
+            1796.2454402998842,
+            30.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            69.46659804672466,
+            1796.2454402998842,
+            27.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            69.46659804672466,
+            1796.2454402998842,
+            24.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            100.0,
+            1852.0,
+            88.0886
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/low_long_updown/2025-1-14_20-5-20_1143195511/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long_updown/2025-1-14_20-5-20_1143195511/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..38b024be06c2fd0f8cdcf50c713c2b310b293ddb
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/low_long_updown/2025-1-14_20-5-20_1143195511/pose.jsonl
@@ -0,0 +1,1094 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -364.59414503894413,
+            592.9291098503229,
+            24.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -364.59414503894413,
+            592.9291098503229,
+            27.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -364.59414503894413,
+            592.9291098503229,
+            30.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -364.59414503894413,
+            592.9291098503229,
+            33.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -364.59414503894413,
+            592.9291098503229,
+            36.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -364.59414503894413,
+            592.9291098503229,
+            39.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -364.59414503894413,
+            592.9291098503229,
+            42.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -364.59414503894413,
+            592.9291098503229,
+            45.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -364.59414503894413,
+            592.9291098503229,
+            48.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -364.59414503894413,
+            592.9291098503229,
+            51.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -364.59414503894413,
+            592.9291098503229,
+            54.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -364.59414503894413,
+            592.9291098503229,
+            57.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -364.59414503894413,
+            592.9291098503229,
+            60.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -364.59414503894413,
+            592.9291098503229,
+            63.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -364.59414503894413,
+            592.9291098503229,
+            66.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -364.59414503894413,
+            592.9291098503229,
+            69.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -364.59414503894413,
+            592.9291098503229,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -367.19222125029745,
+            591.4291098503229,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -369.79029746165077,
+            589.9291098503229,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -372.3883736730041,
+            588.4291098503229,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -374.9864498843574,
+            586.9291098503229,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -377.5845260957107,
+            585.4291098503229,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -380.18260230706403,
+            583.9291098503229,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -382.78067851841735,
+            582.4291098503229,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -385.37875472977066,
+            580.9291098503229,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -387.976830941124,
+            579.4291098503229,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -390.5749071524773,
+            577.9291098503229,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -393.1729833638306,
+            576.4291098503229,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -395.7710595751839,
+            574.9291098503229,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -398.36913578653724,
+            573.4291098503229,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -398.36913578653724,
+            573.4291098503229,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -399.86913578653724,
+            570.8310336389695,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -401.36913578653724,
+            568.2329574276162,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -402.86913578653724,
+            565.6348812162628,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -404.36913578653724,
+            563.0368050049094,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -405.86913578653724,
+            560.438728793556,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -407.36913578653724,
+            557.8406525822027,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -408.86913578653724,
+            555.2425763708493,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -408.86913578653724,
+            555.2425763708493,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -411.46721199789056,
+            553.7425763708493,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -414.0652882092439,
+            552.2425763708493,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -416.6633644205972,
+            550.7425763708493,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -419.2614406319505,
+            549.2425763708493,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -421.8595168433038,
+            547.7425763708493,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -424.45759305465714,
+            546.2425763708493,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -424.45759305465714,
+            546.2425763708493,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -427.45759305465714,
+            546.2425763708493,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -430.45759305465714,
+            546.2425763708493,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -433.45759305465714,
+            546.2425763708493,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -436.45759305465714,
+            546.2425763708493,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -439.45759305465714,
+            546.2425763708493,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -442.45759305465714,
+            546.2425763708493,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -445.45759305465714,
+            546.2425763708493,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -448.45759305465714,
+            546.2425763708493,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -451.45759305465714,
+            546.2425763708493,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -454.45759305465714,
+            546.2425763708493,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -457.45759305465714,
+            546.2425763708493,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -460.45759305465714,
+            546.2425763708493,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            -463.45759305465714,
+            546.2425763708493,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            -466.45759305465714,
+            546.2425763708493,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            -469.45759305465714,
+            546.2425763708493,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            -472.45759305465714,
+            546.2425763708493,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            -475.45759305465714,
+            546.2425763708493,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            -478.45759305465714,
+            546.2425763708493,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            -481.45759305465714,
+            546.2425763708493,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            -484.45759305465714,
+            546.2425763708493,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            -487.45759305465714,
+            546.2425763708493,
+            72.9409175171225
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            -487.45759305465714,
+            546.2425763708493,
+            69.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            -487.45759305465714,
+            546.2425763708493,
+            66.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            -487.45759305465714,
+            546.2425763708493,
+            63.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            -487.45759305465714,
+            546.2425763708493,
+            60.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            -487.45759305465714,
+            546.2425763708493,
+            57.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            -487.45759305465714,
+            546.2425763708493,
+            54.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            -487.45759305465714,
+            546.2425763708493,
+            51.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            -487.45759305465714,
+            546.2425763708493,
+            48.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            -487.45759305465714,
+            546.2425763708493,
+            45.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            -487.45759305465714,
+            546.2425763708493,
+            42.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            -487.45759305465714,
+            546.2425763708493,
+            39.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            -487.45759305465714,
+            546.2425763708493,
+            36.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            -487.45759305465714,
+            546.2425763708493,
+            33.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            -487.45759305465714,
+            546.2425763708493,
+            30.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 81,
+        "pos": [
+            -487.45759305465714,
+            546.2425763708493,
+            27.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 82,
+        "pos": [
+            -487.45759305465714,
+            546.2425763708493,
+            24.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -516.0,
+            536.0,
+            86.7649
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/low_long_updown/2025-1-14_23-56-23_1805613091/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long_updown/2025-1-14_23-56-23_1805613091/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..462b80bd4d833961d2939b21eece3a1fd07ed43f
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/low_long_updown/2025-1-14_23-56-23_1805613091/pose.jsonl
@@ -0,0 +1,1211 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -607.837743209612,
+            -1505.8111576678011,
+            24.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -607.837743209612,
+            -1505.8111576678011,
+            27.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -607.837743209612,
+            -1505.8111576678011,
+            30.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -607.837743209612,
+            -1505.8111576678011,
+            33.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -607.837743209612,
+            -1505.8111576678011,
+            36.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -607.837743209612,
+            -1505.8111576678011,
+            39.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -607.837743209612,
+            -1505.8111576678011,
+            42.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -607.837743209612,
+            -1505.8111576678011,
+            45.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -607.837743209612,
+            -1505.8111576678011,
+            48.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -607.837743209612,
+            -1505.8111576678011,
+            51.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -607.837743209612,
+            -1505.8111576678011,
+            54.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -607.837743209612,
+            -1505.8111576678011,
+            57.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -607.837743209612,
+            -1505.8111576678011,
+            60.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -607.837743209612,
+            -1505.8111576678011,
+            63.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -607.837743209612,
+            -1505.8111576678011,
+            66.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -607.837743209612,
+            -1505.8111576678011,
+            69.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -607.837743209612,
+            -1505.8111576678011,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -605.2396669982586,
+            -1504.3111576678011,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -602.6415907869052,
+            -1502.8111576678011,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -600.0435145755519,
+            -1501.3111576678011,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -597.4454383641985,
+            -1499.8111576678011,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -594.8473621528451,
+            -1498.3111576678011,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -592.2492859414917,
+            -1496.8111576678011,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -589.6512097301384,
+            -1495.3111576678011,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -587.053133518785,
+            -1493.8111576678011,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -584.4550573074316,
+            -1492.3111576678011,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -584.4550573074316,
+            -1492.3111576678011,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -582.9550573074316,
+            -1489.7130814564478,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -581.4550573074316,
+            -1487.1150052450944,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -579.9550573074316,
+            -1484.516929033741,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -578.4550573074316,
+            -1481.9188528223876,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -576.9550573074316,
+            -1479.3207766110343,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -575.4550573074316,
+            -1476.722700399681,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -575.4550573074316,
+            -1476.722700399681,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -575.4550573074316,
+            -1473.722700399681,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -575.4550573074316,
+            -1473.722700399681,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -575.4550573074316,
+            -1473.722700399681,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982989
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -572.8569810960782,
+            -1472.222700399681,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -570.2589048847249,
+            -1470.722700399681,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -567.6608286733715,
+            -1469.222700399681,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -565.0627524620181,
+            -1467.722700399681,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -562.4646762506648,
+            -1466.222700399681,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -562.4646762506648,
+            -1466.222700399681,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -9.43689570931383e-15
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -559.4646762506648,
+            -1466.222700399681,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -556.4646762506648,
+            -1466.222700399681,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -553.4646762506648,
+            -1466.222700399681,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -550.4646762506648,
+            -1466.222700399681,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -547.4646762506648,
+            -1466.222700399681,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -544.4646762506648,
+            -1466.222700399681,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -541.4646762506648,
+            -1466.222700399681,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -538.4646762506648,
+            -1466.222700399681,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -535.4646762506648,
+            -1466.222700399681,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -532.4646762506648,
+            -1466.222700399681,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -529.4646762506648,
+            -1466.222700399681,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -526.4646762506648,
+            -1466.222700399681,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -523.4646762506648,
+            -1466.222700399681,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -520.4646762506648,
+            -1466.222700399681,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -517.4646762506648,
+            -1466.222700399681,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            -514.4646762506648,
+            -1466.222700399681,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            -511.46467625066475,
+            -1466.222700399681,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            -508.46467625066475,
+            -1466.222700399681,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            -505.46467625066475,
+            -1466.222700399681,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            -502.46467625066475,
+            -1466.222700399681,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            -499.46467625066475,
+            -1466.222700399681,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            -496.46467625066475,
+            -1466.222700399681,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            -493.46467625066475,
+            -1466.222700399681,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            -490.46467625066475,
+            -1466.222700399681,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            -487.46467625066475,
+            -1466.222700399681,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            -484.46467625066475,
+            -1466.222700399681,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            -481.46467625066475,
+            -1466.222700399681,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            -478.46467625066475,
+            -1466.222700399681,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            -475.46467625066475,
+            -1466.222700399681,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            -472.46467625066475,
+            -1466.222700399681,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            -469.46467625066475,
+            -1466.222700399681,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            -466.46467625066475,
+            -1466.222700399681,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            -463.46467625066475,
+            -1466.222700399681,
+            72.9409175171225
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            -463.46467625066475,
+            -1466.222700399681,
+            69.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            -463.46467625066475,
+            -1466.222700399681,
+            66.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            -463.46467625066475,
+            -1466.222700399681,
+            63.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            -463.46467625066475,
+            -1466.222700399681,
+            60.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            -463.46467625066475,
+            -1466.222700399681,
+            57.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 81,
+        "pos": [
+            -463.46467625066475,
+            -1466.222700399681,
+            54.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 82,
+        "pos": [
+            -463.46467625066475,
+            -1466.222700399681,
+            51.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 83,
+        "pos": [
+            -463.46467625066475,
+            -1466.222700399681,
+            48.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 84,
+        "pos": [
+            -463.46467625066475,
+            -1466.222700399681,
+            45.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 85,
+        "pos": [
+            -463.46467625066475,
+            -1466.222700399681,
+            42.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 86,
+        "pos": [
+            -463.46467625066475,
+            -1466.222700399681,
+            39.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 87,
+        "pos": [
+            -463.46467625066475,
+            -1466.222700399681,
+            36.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 88,
+        "pos": [
+            -463.46467625066475,
+            -1466.222700399681,
+            33.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 89,
+        "pos": [
+            -463.46467625066475,
+            -1466.222700399681,
+            30.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 90,
+        "pos": [
+            -463.46467625066475,
+            -1466.222700399681,
+            27.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 91,
+        "pos": [
+            -463.46467625066475,
+            -1466.222700399681,
+            24.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -444.0,
+            -1460.0,
+            93.6462
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/low_long_updown/2025-1-14_6-0-2_1369133069/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long_updown/2025-1-14_6-0-2_1369133069/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b5c0fc5b9a3b85f59267476ac9c08ea1a6a737d8
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/low_long_updown/2025-1-14_6-0-2_1369133069/pose.jsonl
@@ -0,0 +1,665 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1756.1521400569904,
+            150.276361023448,
+            24.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1756.1521400569904,
+            150.276361023448,
+            27.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1756.1521400569904,
+            150.276361023448,
+            30.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1756.1521400569904,
+            150.276361023448,
+            33.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1756.1521400569904,
+            150.276361023448,
+            36.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1756.1521400569904,
+            150.276361023448,
+            39.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1756.1521400569904,
+            150.276361023448,
+            42.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1756.1521400569904,
+            150.276361023448,
+            45.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1756.1521400569904,
+            150.276361023448,
+            48.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1756.1521400569904,
+            150.276361023448,
+            51.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1756.1521400569904,
+            150.276361023448,
+            54.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1756.1521400569904,
+            150.276361023448,
+            57.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1756.1521400569904,
+            150.276361023448,
+            60.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1756.1521400569904,
+            150.276361023448,
+            63.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1756.1521400569904,
+            150.276361023448,
+            66.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1756.1521400569904,
+            150.276361023448,
+            69.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1756.1521400569904,
+            150.276361023448,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1758.7502162683438,
+            148.776361023448,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1761.3482924796972,
+            147.276361023448,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1763.9463686910506,
+            145.776361023448,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1766.544444902404,
+            144.276361023448,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1769.1425211137573,
+            142.776361023448,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1771.7405973251107,
+            141.276361023448,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1774.338673536464,
+            139.776361023448,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1776.9367497478174,
+            138.276361023448,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1779.5348259591708,
+            136.776361023448,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1779.5348259591708,
+            136.776361023448,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1782.5348259591708,
+            136.776361023448,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1785.5348259591708,
+            136.776361023448,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1788.5348259591708,
+            136.776361023448,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1791.5348259591708,
+            136.776361023448,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1794.5348259591708,
+            136.776361023448,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1797.5348259591708,
+            136.776361023448,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1800.5348259591708,
+            136.776361023448,
+            72.9409175171225
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1800.5348259591708,
+            136.776361023448,
+            69.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1800.5348259591708,
+            136.776361023448,
+            66.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1800.5348259591708,
+            136.776361023448,
+            63.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1800.5348259591708,
+            136.776361023448,
+            60.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1800.5348259591708,
+            136.776361023448,
+            57.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1800.5348259591708,
+            136.776361023448,
+            54.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -1800.5348259591708,
+            136.776361023448,
+            51.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -1800.5348259591708,
+            136.776361023448,
+            48.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -1800.5348259591708,
+            136.776361023448,
+            45.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -1800.5348259591708,
+            136.776361023448,
+            42.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -1800.5348259591708,
+            136.776361023448,
+            39.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -1800.5348259591708,
+            136.776361023448,
+            36.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -1800.5348259591708,
+            136.776361023448,
+            33.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -1800.5348259591708,
+            136.776361023448,
+            30.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -1800.5348259591708,
+            136.776361023448,
+            27.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -1800.5348259591708,
+            136.776361023448,
+            24.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1928.0,
+            100.0,
+            83.5206
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/low_long_updown/2025-1-14_9-0-13_889023311/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long_updown/2025-1-14_9-0-13_889023311/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..49a0c7898df8d91f64b52b4897be2ee022c60591
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/low_long_updown/2025-1-14_9-0-13_889023311/pose.jsonl
@@ -0,0 +1,1133 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            467.92794419359643,
+            405.4933907475523,
+            24.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            467.92794419359643,
+            405.4933907475523,
+            27.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            467.92794419359643,
+            405.4933907475523,
+            30.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            467.92794419359643,
+            405.4933907475523,
+            33.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            467.92794419359643,
+            405.4933907475523,
+            36.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            467.92794419359643,
+            405.4933907475523,
+            39.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            467.92794419359643,
+            405.4933907475523,
+            42.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            467.92794419359643,
+            405.4933907475523,
+            45.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            467.92794419359643,
+            405.4933907475523,
+            48.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            467.92794419359643,
+            405.4933907475523,
+            51.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            467.92794419359643,
+            405.4933907475523,
+            54.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            467.92794419359643,
+            405.4933907475523,
+            57.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            467.92794419359643,
+            405.4933907475523,
+            60.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            467.92794419359643,
+            405.4933907475523,
+            63.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            467.92794419359643,
+            405.4933907475523,
+            66.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            467.92794419359643,
+            405.4933907475523,
+            69.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            467.92794419359643,
+            405.4933907475523,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            470.92794419359643,
+            405.4933907475523,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            473.92794419359643,
+            405.4933907475523,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            476.92794419359643,
+            405.4933907475523,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            479.92794419359643,
+            405.4933907475523,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            482.92794419359643,
+            405.4933907475523,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            485.92794419359643,
+            405.4933907475523,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            485.92794419359643,
+            405.4933907475523,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            485.92794419359643,
+            405.4933907475523,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            487.42794419359643,
+            408.09146695890564,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            488.92794419359643,
+            410.68954317025896,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            490.42794419359643,
+            413.2876193816123,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            491.92794419359643,
+            415.8856955929656,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            493.42794419359643,
+            418.4837718043189,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            494.92794419359643,
+            421.0818480156722,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            496.42794419359643,
+            423.67992422702554,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            496.42794419359643,
+            423.67992422702554,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            499.02602040494975,
+            425.17992422702554,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            501.62409661630306,
+            426.67992422702554,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            504.2221728276564,
+            428.17992422702554,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            506.8202490390097,
+            429.67992422702554,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            509.418325250363,
+            431.17992422702554,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            512.0164014617163,
+            432.67992422702554,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            514.6144776730696,
+            434.17992422702554,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            517.212553884423,
+            435.67992422702554,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            519.8106300957763,
+            437.17992422702554,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            522.4087063071297,
+            438.67992422702554,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            525.0067825184831,
+            440.17992422702554,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            527.6048587298365,
+            441.67992422702554,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            530.2029349411898,
+            443.17992422702554,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            532.8010111525432,
+            444.67992422702554,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            535.3990873638966,
+            446.17992422702554,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            537.9971635752499,
+            447.67992422702554,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            540.5952397866033,
+            449.17992422702554,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            543.1933159979567,
+            450.67992422702554,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            545.7913922093101,
+            452.17992422702554,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            548.3894684206634,
+            453.67992422702554,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            550.9875446320168,
+            455.17992422702554,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            553.5856208433702,
+            456.67992422702554,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            556.1836970547236,
+            458.17992422702554,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            558.7817732660769,
+            459.67992422702554,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            561.3798494774303,
+            461.17992422702554,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            563.9779256887837,
+            462.67992422702554,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            566.576001900137,
+            464.17992422702554,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            569.1740781114904,
+            465.67992422702554,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            571.7721543228438,
+            467.17992422702554,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            574.3702305341972,
+            468.67992422702554,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            574.3702305341972,
+            468.67992422702554,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -9.43689570931383e-15
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            577.3702305341972,
+            468.67992422702554,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            580.3702305341972,
+            468.67992422702554,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            583.3702305341972,
+            468.67992422702554,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            586.3702305341972,
+            468.67992422702554,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            589.3702305341972,
+            468.67992422702554,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            592.3702305341972,
+            468.67992422702554,
+            72.9409175171225
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            592.3702305341972,
+            468.67992422702554,
+            69.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            592.3702305341972,
+            468.67992422702554,
+            66.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            592.3702305341972,
+            468.67992422702554,
+            63.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            592.3702305341972,
+            468.67992422702554,
+            60.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            592.3702305341972,
+            468.67992422702554,
+            57.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            592.3702305341972,
+            468.67992422702554,
+            54.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            592.3702305341972,
+            468.67992422702554,
+            51.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            592.3702305341972,
+            468.67992422702554,
+            48.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            592.3702305341972,
+            468.67992422702554,
+            45.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            592.3702305341972,
+            468.67992422702554,
+            42.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            592.3702305341972,
+            468.67992422702554,
+            39.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 81,
+        "pos": [
+            592.3702305341972,
+            468.67992422702554,
+            36.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 82,
+        "pos": [
+            592.3702305341972,
+            468.67992422702554,
+            33.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 83,
+        "pos": [
+            592.3702305341972,
+            468.67992422702554,
+            30.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 84,
+        "pos": [
+            592.3702305341972,
+            468.67992422702554,
+            27.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 85,
+        "pos": [
+            592.3702305341972,
+            468.67992422702554,
+            24.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            620.0,
+            484.0,
+            73.488
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/low_long_updown/2025-1-15_0-15-29_181226513/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long_updown/2025-1-15_0-15-29_181226513/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a8a8a73ca1f33795021cde4cb72fdc70e3d04aa6
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/low_long_updown/2025-1-15_0-15-29_181226513/pose.jsonl
@@ -0,0 +1,1042 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            531.8232547083328,
+            451.22420737881157,
+            24.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            531.8232547083328,
+            451.22420737881157,
+            27.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            531.8232547083328,
+            451.22420737881157,
+            30.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            531.8232547083328,
+            451.22420737881157,
+            33.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            531.8232547083328,
+            451.22420737881157,
+            36.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            531.8232547083328,
+            451.22420737881157,
+            39.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            531.8232547083328,
+            451.22420737881157,
+            42.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            531.8232547083328,
+            451.22420737881157,
+            45.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            531.8232547083328,
+            451.22420737881157,
+            48.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            531.8232547083328,
+            451.22420737881157,
+            51.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            531.8232547083328,
+            451.22420737881157,
+            54.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            531.8232547083328,
+            451.22420737881157,
+            57.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            531.8232547083328,
+            451.22420737881157,
+            60.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            531.8232547083328,
+            451.22420737881157,
+            63.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            531.8232547083328,
+            451.22420737881157,
+            66.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            531.8232547083328,
+            451.22420737881157,
+            69.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            531.8232547083328,
+            451.22420737881157,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            530.3232547083328,
+            453.8222835901649,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            528.8232547083328,
+            456.4203598015182,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            527.3232547083328,
+            459.0184360128715,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            527.3232547083328,
+            459.0184360128715,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            527.3232547083328,
+            462.0184360128715,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            527.3232547083328,
+            465.0184360128715,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            527.3232547083328,
+            468.0184360128715,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            527.3232547083328,
+            471.0184360128715,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            527.3232547083328,
+            474.0184360128715,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            527.3232547083328,
+            477.0184360128715,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            527.3232547083328,
+            480.0184360128715,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            527.3232547083328,
+            483.0184360128715,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            527.3232547083328,
+            486.0184360128715,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            527.3232547083328,
+            489.0184360128715,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            527.3232547083328,
+            492.0184360128715,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            527.3232547083328,
+            495.0184360128715,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            527.3232547083328,
+            498.0184360128715,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            527.3232547083328,
+            501.0184360128715,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            527.3232547083328,
+            504.0184360128715,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            527.3232547083328,
+            507.0184360128715,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            527.3232547083328,
+            510.0184360128715,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            527.3232547083328,
+            513.0184360128715,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            527.3232547083328,
+            516.0184360128715,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            527.3232547083328,
+            519.0184360128715,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            527.3232547083328,
+            519.0184360128715,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            525.8232547083328,
+            521.6165122242248,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            524.3232547083328,
+            524.2145884355782,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            522.8232547083328,
+            526.8126646469316,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            521.3232547083328,
+            529.410740858285,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            519.8232547083328,
+            532.0088170696383,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            518.3232547083328,
+            534.6068932809917,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            516.8232547083328,
+            537.2049694923451,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            515.3232547083328,
+            539.8030457036984,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            513.8232547083328,
+            542.4011219150518,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            513.8232547083328,
+            542.4011219150518,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            511.2251784969795,
+            543.9011219150518,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            508.62710228562617,
+            545.4011219150518,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            506.02902607427285,
+            546.9011219150518,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            503.43094986291953,
+            548.4011219150518,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            500.8328736515662,
+            549.9011219150518,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            498.2347974402129,
+            551.4011219150518,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            495.6367212288596,
+            552.9011219150518,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            493.03864501750627,
+            554.4011219150518,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            490.44056880615295,
+            555.9011219150518,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            487.84249259479964,
+            557.4011219150518,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            485.2444163834463,
+            558.9011219150518,
+            72.9409175171225
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            485.2444163834463,
+            558.9011219150518,
+            69.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            485.2444163834463,
+            558.9011219150518,
+            66.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            485.2444163834463,
+            558.9011219150518,
+            63.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            485.2444163834463,
+            558.9011219150518,
+            60.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            485.2444163834463,
+            558.9011219150518,
+            57.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            485.2444163834463,
+            558.9011219150518,
+            54.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            485.2444163834463,
+            558.9011219150518,
+            51.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            485.2444163834463,
+            558.9011219150518,
+            48.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            485.2444163834463,
+            558.9011219150518,
+            45.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            485.2444163834463,
+            558.9011219150518,
+            42.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            485.2444163834463,
+            558.9011219150518,
+            39.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            485.2444163834463,
+            558.9011219150518,
+            36.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            485.2444163834463,
+            558.9011219150518,
+            33.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            485.2444163834463,
+            558.9011219150518,
+            30.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            485.2444163834463,
+            558.9011219150518,
+            27.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            485.2444163834463,
+            558.9011219150518,
+            24.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            464.0,
+            608.0,
+            143.444
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/low_long_updown/2025-1-15_0-29-51_1731190952/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long_updown/2025-1-15_0-29-51_1731190952/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9e5178a18ac9e28a077854a1d700ff2876f7e619
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/low_long_updown/2025-1-15_0-29-51_1731190952/pose.jsonl
@@ -0,0 +1,1185 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            693.9782387667659,
+            -892.2930325967651,
+            24.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            693.9782387667659,
+            -892.2930325967651,
+            27.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            693.9782387667659,
+            -892.2930325967651,
+            30.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            693.9782387667659,
+            -892.2930325967651,
+            33.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            693.9782387667659,
+            -892.2930325967651,
+            36.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            693.9782387667659,
+            -892.2930325967651,
+            39.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            693.9782387667659,
+            -892.2930325967651,
+            42.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            693.9782387667659,
+            -892.2930325967651,
+            45.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            693.9782387667659,
+            -892.2930325967651,
+            48.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            693.9782387667659,
+            -892.2930325967651,
+            51.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            693.9782387667659,
+            -892.2930325967651,
+            54.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            693.9782387667659,
+            -892.2930325967651,
+            57.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            693.9782387667659,
+            -892.2930325967651,
+            60.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            693.9782387667659,
+            -892.2930325967651,
+            63.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            693.9782387667659,
+            -892.2930325967651,
+            66.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            693.9782387667659,
+            -892.2930325967651,
+            69.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            693.9782387667659,
+            -892.2930325967651,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            695.4782387667659,
+            -894.8911088081184,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            696.9782387667659,
+            -897.4891850194717,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            698.4782387667659,
+            -900.0872612308251,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            699.9782387667659,
+            -902.6853374421785,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            701.4782387667659,
+            -905.2834136535319,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            701.4782387667659,
+            -905.2834136535319,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            704.0763149781192,
+            -906.7834136535319,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            706.6743911894725,
+            -908.2834136535319,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            709.2724674008259,
+            -909.7834136535319,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            711.8705436121793,
+            -911.2834136535319,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            714.4686198235327,
+            -912.7834136535319,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            717.066696034886,
+            -914.2834136535319,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            719.6647722462394,
+            -915.7834136535319,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            722.2628484575928,
+            -917.2834136535319,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            724.8609246689462,
+            -918.7834136535319,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            727.4590008802995,
+            -920.2834136535319,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            730.0570770916529,
+            -921.7834136535319,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            732.6551533030063,
+            -923.2834136535319,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            735.2532295143596,
+            -924.7834136535319,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            737.851305725713,
+            -926.2834136535319,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            740.4493819370664,
+            -927.7834136535319,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            743.0474581484198,
+            -929.2834136535319,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            745.6455343597731,
+            -930.7834136535319,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            748.2436105711265,
+            -932.2834136535319,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            750.8416867824799,
+            -933.7834136535319,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            753.4397629938333,
+            -935.2834136535319,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            753.4397629938333,
+            -935.2834136535319,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            753.4397629938333,
+            -935.2834136535319,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.570796326794887
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            753.4397629938333,
+            -938.2834136535319,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            753.4397629938333,
+            -941.2834136535319,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            753.4397629938333,
+            -944.2834136535319,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            753.4397629938333,
+            -947.2834136535319,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            753.4397629938333,
+            -950.2834136535319,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            753.4397629938333,
+            -953.2834136535319,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            753.4397629938333,
+            -953.2834136535319,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            754.9397629938333,
+            -955.8814898648852,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            756.4397629938333,
+            -958.4795660762386,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            757.9397629938333,
+            -961.077642287592,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            759.4397629938333,
+            -963.6757184989453,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            760.9397629938333,
+            -966.2737947102987,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            762.4397629938333,
+            -968.8718709216521,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            763.9397629938333,
+            -971.4699471330055,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            765.4397629938333,
+            -974.0680233443588,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            766.9397629938333,
+            -976.6660995557122,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            768.4397629938333,
+            -979.2641757670656,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            769.9397629938333,
+            -981.862251978419,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            769.9397629938333,
+            -981.862251978419,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            772.5378392051866,
+            -983.362251978419,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            775.13591541654,
+            -984.862251978419,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            777.7339916278934,
+            -986.362251978419,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            780.3320678392467,
+            -987.862251978419,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            782.9301440506001,
+            -989.362251978419,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            785.5282202619535,
+            -990.862251978419,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            788.1262964733069,
+            -992.362251978419,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            790.7243726846602,
+            -993.862251978419,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            793.3224488960136,
+            -995.362251978419,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            795.920525107367,
+            -996.862251978419,
+            72.9409175171225
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            795.920525107367,
+            -996.862251978419,
+            69.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            795.920525107367,
+            -996.862251978419,
+            66.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            795.920525107367,
+            -996.862251978419,
+            63.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            795.920525107367,
+            -996.862251978419,
+            60.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            795.920525107367,
+            -996.862251978419,
+            57.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            795.920525107367,
+            -996.862251978419,
+            54.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            795.920525107367,
+            -996.862251978419,
+            51.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 81,
+        "pos": [
+            795.920525107367,
+            -996.862251978419,
+            48.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 82,
+        "pos": [
+            795.920525107367,
+            -996.862251978419,
+            45.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 83,
+        "pos": [
+            795.920525107367,
+            -996.862251978419,
+            42.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 84,
+        "pos": [
+            795.920525107367,
+            -996.862251978419,
+            39.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 85,
+        "pos": [
+            795.920525107367,
+            -996.862251978419,
+            36.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 86,
+        "pos": [
+            795.920525107367,
+            -996.862251978419,
+            33.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 87,
+        "pos": [
+            795.920525107367,
+            -996.862251978419,
+            30.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 88,
+        "pos": [
+            795.920525107367,
+            -996.862251978419,
+            27.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 89,
+        "pos": [
+            795.920525107367,
+            -996.862251978419,
+            24.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            812.0,
+            -1012.0,
+            90.1836
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/low_long_updown/2025-1-15_1-27-1_1042517543/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long_updown/2025-1-15_1-27-1_1042517543/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8daa3e1e80d7184abcaa4e76e2fcf0e3f7771b96
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/low_long_updown/2025-1-15_1-27-1_1042517543/pose.jsonl
@@ -0,0 +1,1107 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            215.7716251710915,
+            -351.0790834043918,
+            24.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            215.7716251710915,
+            -351.0790834043918,
+            27.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            215.7716251710915,
+            -351.0790834043918,
+            30.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            215.7716251710915,
+            -351.0790834043918,
+            33.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            215.7716251710915,
+            -351.0790834043918,
+            36.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            215.7716251710915,
+            -351.0790834043918,
+            39.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            215.7716251710915,
+            -351.0790834043918,
+            42.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            215.7716251710915,
+            -351.0790834043918,
+            45.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            215.7716251710915,
+            -351.0790834043918,
+            48.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            215.7716251710915,
+            -351.0790834043918,
+            51.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            215.7716251710915,
+            -351.0790834043918,
+            54.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            215.7716251710915,
+            -351.0790834043918,
+            57.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            215.7716251710915,
+            -351.0790834043918,
+            60.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            215.7716251710915,
+            -351.0790834043918,
+            63.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            215.7716251710915,
+            -351.0790834043918,
+            66.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            215.7716251710915,
+            -351.0790834043918,
+            69.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            215.7716251710915,
+            -351.0790834043918,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            215.7716251710915,
+            -354.0790834043918,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            215.7716251710915,
+            -357.0790834043918,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            215.7716251710915,
+            -360.0790834043918,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            215.7716251710915,
+            -363.0790834043918,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            215.7716251710915,
+            -366.0790834043918,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            215.7716251710915,
+            -369.0790834043918,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            215.7716251710915,
+            -369.0790834043918,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            215.7716251710915,
+            -369.0790834043918,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            213.17354895973818,
+            -370.5790834043918,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            213.17354895973818,
+            -370.5790834043918,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            213.17354895973818,
+            -370.5790834043918,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948968
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            213.17354895973818,
+            -373.5790834043918,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            213.17354895973818,
+            -376.5790834043918,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            213.17354895973818,
+            -379.5790834043918,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            213.17354895973818,
+            -382.5790834043918,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            213.17354895973818,
+            -385.5790834043918,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            213.17354895973818,
+            -388.5790834043918,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            213.17354895973818,
+            -391.5790834043918,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            213.17354895973818,
+            -394.5790834043918,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            213.17354895973818,
+            -397.5790834043918,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            213.17354895973818,
+            -400.5790834043918,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            213.17354895973818,
+            -400.5790834043918,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            214.67354895973818,
+            -403.1771596157451,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            216.17354895973818,
+            -405.7752358270984,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            217.67354895973818,
+            -408.37331203845173,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            219.17354895973818,
+            -410.97138824980505,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            220.67354895973818,
+            -413.56946446115836,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            222.17354895973818,
+            -416.1675406725117,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            223.67354895973818,
+            -418.765616883865,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            225.17354895973818,
+            -421.3636930952183,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            226.67354895973818,
+            -423.9617693065716,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            228.17354895973818,
+            -426.55984551792494,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            229.67354895973818,
+            -429.15792172927826,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            231.17354895973818,
+            -431.7559979406316,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            232.67354895973818,
+            -434.3540741519849,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            234.17354895973818,
+            -436.9521503633382,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            235.67354895973818,
+            -439.5502265746915,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            237.17354895973818,
+            -442.14830278604484,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            238.67354895973818,
+            -444.74637899739815,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            240.17354895973818,
+            -447.34445520875147,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            241.67354895973818,
+            -449.9425314201048,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            243.17354895973818,
+            -452.5406076314581,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            244.67354895973818,
+            -455.1386838428114,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            246.17354895973818,
+            -457.73676005416473,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            246.17354895973818,
+            -457.73676005416473,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            246.17354895973818,
+            -460.73676005416473,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            246.17354895973818,
+            -463.73676005416473,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            246.17354895973818,
+            -466.73676005416473,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            246.17354895973818,
+            -469.73676005416473,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            246.17354895973818,
+            -472.73676005416473,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            246.17354895973818,
+            -475.73676005416473,
+            72.9409175171225
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            246.17354895973818,
+            -475.73676005416473,
+            69.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            246.17354895973818,
+            -475.73676005416473,
+            66.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            246.17354895973818,
+            -475.73676005416473,
+            63.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            246.17354895973818,
+            -475.73676005416473,
+            60.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            246.17354895973818,
+            -475.73676005416473,
+            57.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            246.17354895973818,
+            -475.73676005416473,
+            54.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            246.17354895973818,
+            -475.73676005416473,
+            51.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            246.17354895973818,
+            -475.73676005416473,
+            48.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            246.17354895973818,
+            -475.73676005416473,
+            45.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            246.17354895973818,
+            -475.73676005416473,
+            42.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            246.17354895973818,
+            -475.73676005416473,
+            39.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            246.17354895973818,
+            -475.73676005416473,
+            36.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            246.17354895973818,
+            -475.73676005416473,
+            33.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 81,
+        "pos": [
+            246.17354895973818,
+            -475.73676005416473,
+            30.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 82,
+        "pos": [
+            246.17354895973818,
+            -475.73676005416473,
+            27.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 83,
+        "pos": [
+            246.17354895973818,
+            -475.73676005416473,
+            24.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            260.0,
+            -524.0,
+            58.9157
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/low_long_updown/2025-1-15_2-17-8_554602408/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long_updown/2025-1-15_2-17-8_554602408/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fdbd15502d639b7706ce8117626b8fcaef74b7ae
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/low_long_updown/2025-1-15_2-17-8_554602408/pose.jsonl
@@ -0,0 +1,1159 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            942.6298154484626,
+            -189.9348767195278,
+            24.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            942.6298154484626,
+            -189.9348767195278,
+            27.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            942.6298154484626,
+            -189.9348767195278,
+            30.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            942.6298154484626,
+            -189.9348767195278,
+            33.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            942.6298154484626,
+            -189.9348767195278,
+            36.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            942.6298154484626,
+            -189.9348767195278,
+            39.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            942.6298154484626,
+            -189.9348767195278,
+            42.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            942.6298154484626,
+            -189.9348767195278,
+            45.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            942.6298154484626,
+            -189.9348767195278,
+            48.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            942.6298154484626,
+            -189.9348767195278,
+            51.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            942.6298154484626,
+            -189.9348767195278,
+            54.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            942.6298154484626,
+            -189.9348767195278,
+            57.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            942.6298154484626,
+            -189.9348767195278,
+            60.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            942.6298154484626,
+            -189.9348767195278,
+            63.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            942.6298154484626,
+            -189.9348767195278,
+            66.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            942.6298154484626,
+            -189.9348767195278,
+            69.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            942.6298154484626,
+            -189.9348767195278,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            945.6298154484626,
+            -189.9348767195278,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            948.6298154484626,
+            -189.9348767195278,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            951.6298154484626,
+            -189.9348767195278,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            954.6298154484626,
+            -189.9348767195278,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            957.6298154484626,
+            -189.9348767195278,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            960.6298154484626,
+            -189.9348767195278,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            963.6298154484626,
+            -189.9348767195278,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            966.6298154484626,
+            -189.9348767195278,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            969.6298154484626,
+            -189.9348767195278,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            972.6298154484626,
+            -189.9348767195278,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            975.6298154484626,
+            -189.9348767195278,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            978.6298154484626,
+            -189.9348767195278,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            981.6298154484626,
+            -189.9348767195278,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            984.6298154484626,
+            -189.9348767195278,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            987.6298154484626,
+            -189.9348767195278,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            990.6298154484626,
+            -189.9348767195278,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            993.6298154484626,
+            -189.9348767195278,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            996.6298154484626,
+            -189.9348767195278,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            999.6298154484626,
+            -189.9348767195278,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1002.6298154484626,
+            -189.9348767195278,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1002.6298154484626,
+            -189.9348767195278,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1005.2278916598159,
+            -188.4348767195278,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1007.8259678711693,
+            -186.9348767195278,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1010.4240440825226,
+            -185.4348767195278,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1010.4240440825226,
+            -185.4348767195278,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -9.43689570931383e-15
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1013.4240440825226,
+            -185.4348767195278,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1016.4240440825226,
+            -185.4348767195278,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1019.4240440825226,
+            -185.4348767195278,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1022.4240440825226,
+            -185.4348767195278,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1025.4240440825226,
+            -185.4348767195278,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1028.4240440825226,
+            -185.4348767195278,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1031.4240440825226,
+            -185.4348767195278,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1034.4240440825226,
+            -185.4348767195278,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            1037.4240440825226,
+            -185.4348767195278,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            1037.4240440825226,
+            -185.4348767195278,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            1040.022120293876,
+            -186.9348767195278,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            1042.6201965052294,
+            -188.4348767195278,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            1045.2182727165828,
+            -189.9348767195278,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            1047.8163489279361,
+            -191.4348767195278,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            1050.4144251392895,
+            -192.9348767195278,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            1053.0125013506429,
+            -194.4348767195278,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            1055.6105775619963,
+            -195.9348767195278,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            1058.2086537733496,
+            -197.4348767195278,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            1060.806729984703,
+            -198.9348767195278,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            1063.4048061960564,
+            -200.4348767195278,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            1066.0028824074097,
+            -201.9348767195278,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            1068.6009586187631,
+            -203.4348767195278,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            1071.1990348301165,
+            -204.9348767195278,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            1073.7971110414699,
+            -206.4348767195278,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            1076.3951872528232,
+            -207.9348767195278,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            1078.9932634641766,
+            -209.4348767195278,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            1081.59133967553,
+            -210.9348767195278,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            1084.1894158868834,
+            -212.4348767195278,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            1084.1894158868834,
+            -212.4348767195278,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            1085.6894158868834,
+            -215.03295293088112,
+            72.9409175171225
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            1085.6894158868834,
+            -215.03295293088112,
+            69.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            1085.6894158868834,
+            -215.03295293088112,
+            66.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            1085.6894158868834,
+            -215.03295293088112,
+            63.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            1085.6894158868834,
+            -215.03295293088112,
+            60.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            1085.6894158868834,
+            -215.03295293088112,
+            57.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            1085.6894158868834,
+            -215.03295293088112,
+            54.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            1085.6894158868834,
+            -215.03295293088112,
+            51.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            1085.6894158868834,
+            -215.03295293088112,
+            48.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            1085.6894158868834,
+            -215.03295293088112,
+            45.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 81,
+        "pos": [
+            1085.6894158868834,
+            -215.03295293088112,
+            42.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 82,
+        "pos": [
+            1085.6894158868834,
+            -215.03295293088112,
+            39.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 83,
+        "pos": [
+            1085.6894158868834,
+            -215.03295293088112,
+            36.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 84,
+        "pos": [
+            1085.6894158868834,
+            -215.03295293088112,
+            33.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 85,
+        "pos": [
+            1085.6894158868834,
+            -215.03295293088112,
+            30.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 86,
+        "pos": [
+            1085.6894158868834,
+            -215.03295293088112,
+            27.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 87,
+        "pos": [
+            1085.6894158868834,
+            -215.03295293088112,
+            24.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1100.0,
+            -220.0,
+            72.7496
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/low_long_updown/2025-1-15_2-30-51_1498387409/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long_updown/2025-1-15_2-30-51_1498387409/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1b0e8720dec0a34ee4df7223bcc836739402e7e1
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/low_long_updown/2025-1-15_2-30-51_1498387409/pose.jsonl
@@ -0,0 +1,1211 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            765.7259091326052,
+            -895.69083249968,
+            24.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            765.7259091326052,
+            -895.69083249968,
+            27.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            765.7259091326052,
+            -895.69083249968,
+            30.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            765.7259091326052,
+            -895.69083249968,
+            33.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            765.7259091326052,
+            -895.69083249968,
+            36.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            765.7259091326052,
+            -895.69083249968,
+            39.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            765.7259091326052,
+            -895.69083249968,
+            42.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            765.7259091326052,
+            -895.69083249968,
+            45.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            765.7259091326052,
+            -895.69083249968,
+            48.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            765.7259091326052,
+            -895.69083249968,
+            51.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            765.7259091326052,
+            -895.69083249968,
+            54.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            765.7259091326052,
+            -895.69083249968,
+            57.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            765.7259091326052,
+            -895.69083249968,
+            60.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            765.7259091326052,
+            -895.69083249968,
+            63.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            765.7259091326052,
+            -895.69083249968,
+            66.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            765.7259091326052,
+            -895.69083249968,
+            69.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            765.7259091326052,
+            -895.69083249968,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            762.7259091326052,
+            -895.69083249968,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            759.7259091326052,
+            -895.69083249968,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            756.7259091326052,
+            -895.69083249968,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            753.7259091326052,
+            -895.69083249968,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            750.7259091326052,
+            -895.69083249968,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            747.7259091326052,
+            -895.69083249968,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            744.7259091326052,
+            -895.69083249968,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            741.7259091326052,
+            -895.69083249968,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            738.7259091326052,
+            -895.69083249968,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            735.7259091326052,
+            -895.69083249968,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            732.7259091326052,
+            -895.69083249968,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            729.7259091326052,
+            -895.69083249968,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            726.7259091326052,
+            -895.69083249968,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            723.7259091326052,
+            -895.69083249968,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            720.7259091326052,
+            -895.69083249968,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            717.7259091326052,
+            -895.69083249968,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            714.7259091326052,
+            -895.69083249968,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            711.7259091326052,
+            -895.69083249968,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            708.7259091326052,
+            -895.69083249968,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            705.7259091326052,
+            -895.69083249968,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            702.7259091326052,
+            -895.69083249968,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            699.7259091326052,
+            -895.69083249968,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            696.7259091326052,
+            -895.69083249968,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            693.7259091326052,
+            -895.69083249968,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            690.7259091326052,
+            -895.69083249968,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            687.7259091326052,
+            -895.69083249968,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            684.7259091326052,
+            -895.69083249968,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            681.7259091326052,
+            -895.69083249968,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            681.7259091326052,
+            -895.69083249968,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            679.1278329212519,
+            -897.19083249968,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            676.5297567098985,
+            -898.69083249968,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            673.9316804985451,
+            -900.19083249968,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            671.3336042871917,
+            -901.69083249968,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            668.7355280758384,
+            -903.19083249968,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            666.137451864485,
+            -904.69083249968,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            663.5393756531316,
+            -906.19083249968,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            663.5393756531316,
+            -906.19083249968,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            660.5393756531316,
+            -906.19083249968,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            657.5393756531316,
+            -906.19083249968,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            654.5393756531316,
+            -906.19083249968,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            651.5393756531316,
+            -906.19083249968,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            648.5393756531316,
+            -906.19083249968,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            645.5393756531316,
+            -906.19083249968,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            645.5393756531316,
+            -906.19083249968,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            645.5393756531316,
+            -906.19083249968,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            644.0393756531316,
+            -903.5927562883267,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            642.5393756531316,
+            -900.9946800769733,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            641.0393756531316,
+            -898.3966038656199,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            639.5393756531316,
+            -895.7985276542665,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            639.5393756531316,
+            -895.7985276542665,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            636.9412994417783,
+            -894.2985276542665,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            634.3432232304249,
+            -892.7985276542665,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            631.7451470190715,
+            -891.2985276542665,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            629.1470708077181,
+            -889.7985276542665,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            626.5489945963648,
+            -888.2985276542665,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            623.9509183850114,
+            -886.7985276542665,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            621.352842173658,
+            -885.2985276542665,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            618.7547659623046,
+            -883.7985276542665,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            616.1566897509513,
+            -882.2985276542665,
+            72.9409175171225
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            616.1566897509513,
+            -882.2985276542665,
+            69.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            616.1566897509513,
+            -882.2985276542665,
+            66.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            616.1566897509513,
+            -882.2985276542665,
+            63.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            616.1566897509513,
+            -882.2985276542665,
+            60.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            616.1566897509513,
+            -882.2985276542665,
+            57.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 81,
+        "pos": [
+            616.1566897509513,
+            -882.2985276542665,
+            54.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 82,
+        "pos": [
+            616.1566897509513,
+            -882.2985276542665,
+            51.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 83,
+        "pos": [
+            616.1566897509513,
+            -882.2985276542665,
+            48.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 84,
+        "pos": [
+            616.1566897509513,
+            -882.2985276542665,
+            45.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 85,
+        "pos": [
+            616.1566897509513,
+            -882.2985276542665,
+            42.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 86,
+        "pos": [
+            616.1566897509513,
+            -882.2985276542665,
+            39.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 87,
+        "pos": [
+            616.1566897509513,
+            -882.2985276542665,
+            36.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 88,
+        "pos": [
+            616.1566897509513,
+            -882.2985276542665,
+            33.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 89,
+        "pos": [
+            616.1566897509513,
+            -882.2985276542665,
+            30.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 90,
+        "pos": [
+            616.1566897509513,
+            -882.2985276542665,
+            27.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 91,
+        "pos": [
+            616.1566897509513,
+            -882.2985276542665,
+            24.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            592.0,
+            -880.0,
+            95.6961
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/low_long_updown/2025-1-15_2-6-46_777635325/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long_updown/2025-1-15_2-6-46_777635325/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..396673b6445b54fcc4682f7ec6092f6d117b0d5d
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/low_long_updown/2025-1-15_2-6-46_777635325/pose.jsonl
@@ -0,0 +1,1120 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -914.0523584421545,
+            1409.88313170319,
+            24.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -914.0523584421545,
+            1409.88313170319,
+            27.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -914.0523584421545,
+            1409.88313170319,
+            30.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -914.0523584421545,
+            1409.88313170319,
+            33.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -914.0523584421545,
+            1409.88313170319,
+            36.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -914.0523584421545,
+            1409.88313170319,
+            39.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -914.0523584421545,
+            1409.88313170319,
+            42.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -914.0523584421545,
+            1409.88313170319,
+            45.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -914.0523584421545,
+            1409.88313170319,
+            48.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -914.0523584421545,
+            1409.88313170319,
+            51.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -914.0523584421545,
+            1409.88313170319,
+            54.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -914.0523584421545,
+            1409.88313170319,
+            57.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -914.0523584421545,
+            1409.88313170319,
+            60.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -914.0523584421545,
+            1409.88313170319,
+            63.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -914.0523584421545,
+            1409.88313170319,
+            66.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -914.0523584421545,
+            1409.88313170319,
+            69.9409175171225
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -914.0523584421545,
+            1409.88313170319,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -915.5523584421545,
+            1407.2850554918366,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -917.0523584421545,
+            1404.6869792804832,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -918.5523584421545,
+            1402.0889030691299,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -920.0523584421545,
+            1399.4908268577765,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -921.5523584421545,
+            1396.892750646423,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -923.0523584421545,
+            1394.2946744350697,
+            72.9409175171225
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -923.0523584421545,
+            1394.2946744350697,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -923.0523584421545,
+            1391.2946744350697,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -923.0523584421545,
+            1388.2946744350697,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -923.0523584421545,
+            1385.2946744350697,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -923.0523584421545,
+            1382.2946744350697,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -923.0523584421545,
+            1379.2946744350697,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -923.0523584421545,
+            1376.2946744350697,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -923.0523584421545,
+            1373.2946744350697,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -923.0523584421545,
+            1373.2946744350697,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -924.5523584421545,
+            1370.6965982237164,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -926.0523584421545,
+            1368.098522012363,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -927.5523584421545,
+            1365.5004458010096,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -929.0523584421545,
+            1362.9023695896562,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -930.5523584421545,
+            1360.3042933783029,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -932.0523584421545,
+            1357.7062171669495,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -933.5523584421545,
+            1355.1081409555961,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -935.0523584421545,
+            1352.5100647442428,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -936.5523584421545,
+            1349.9119885328894,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -938.0523584421545,
+            1347.313912321536,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -939.5523584421545,
+            1344.7158361101826,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -941.0523584421545,
+            1342.1177598988293,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -942.5523584421545,
+            1339.519683687476,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -944.0523584421545,
+            1336.9216074761225,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -945.5523584421545,
+            1334.3235312647691,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -947.0523584421545,
+            1331.7254550534158,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -948.5523584421545,
+            1329.1273788420624,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -950.0523584421545,
+            1326.529302630709,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -951.5523584421545,
+            1323.9312264193557,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -953.0523584421545,
+            1321.3331502080023,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -954.5523584421545,
+            1318.735073996649,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -956.0523584421545,
+            1316.1369977852955,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -957.5523584421545,
+            1313.5389215739422,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -959.0523584421545,
+            1310.9408453625888,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -960.5523584421545,
+            1308.3427691512354,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -962.0523584421545,
+            1305.744692939882,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            -963.5523584421545,
+            1303.1466167285287,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            -965.0523584421545,
+            1300.5485405171753,
+            72.9409175171225
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            -965.0523584421545,
+            1300.5485405171753,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            -967.6504346535078,
+            1299.0485405171753,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            -970.2485108648611,
+            1297.5485405171753,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            -972.8465870762145,
+            1296.0485405171753,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            -975.4446632875679,
+            1294.5485405171753,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            -978.0427394989213,
+            1293.0485405171753,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            -980.6408157102746,
+            1291.5485405171753,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            -983.238891921628,
+            1290.0485405171753,
+            72.9409175171225
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            -985.8369681329814,
+            1288.5485405171753,
+            72.9409175171225
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            -985.8369681329814,
+            1288.5485405171753,
+            69.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            -985.8369681329814,
+            1288.5485405171753,
+            66.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            -985.8369681329814,
+            1288.5485405171753,
+            63.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            -985.8369681329814,
+            1288.5485405171753,
+            60.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            -985.8369681329814,
+            1288.5485405171753,
+            57.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            -985.8369681329814,
+            1288.5485405171753,
+            54.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            -985.8369681329814,
+            1288.5485405171753,
+            51.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            -985.8369681329814,
+            1288.5485405171753,
+            48.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            -985.8369681329814,
+            1288.5485405171753,
+            45.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            -985.8369681329814,
+            1288.5485405171753,
+            42.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            -985.8369681329814,
+            1288.5485405171753,
+            39.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            -985.8369681329814,
+            1288.5485405171753,
+            36.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 81,
+        "pos": [
+            -985.8369681329814,
+            1288.5485405171753,
+            33.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 82,
+        "pos": [
+            -985.8369681329814,
+            1288.5485405171753,
+            30.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 83,
+        "pos": [
+            -985.8369681329814,
+            1288.5485405171753,
+            27.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 84,
+        "pos": [
+            -985.8369681329814,
+            1288.5485405171753,
+            24.9409175171225
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -992.0,
+            1280.0,
+            62.5001
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_16-31-7_1748349614/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_16-31-7_1748349614/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..756ba663fe5c0fe8d52a98bd3a84b03ba2c02b74
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_16-31-7_1748349614/pose.jsonl
@@ -0,0 +1,574 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1155.3857443371712,
+            -33.472513622880896,
+            59.02661232803592
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1157.9838205485246,
+            -34.972513622880896,
+            59.02661232803592
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1160.581896759878,
+            -36.472513622880896,
+            59.02661232803592
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1163.1799729712313,
+            -37.972513622880896,
+            59.02661232803592
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1165.7780491825847,
+            -39.472513622880896,
+            59.02661232803592
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1168.376125393938,
+            -40.972513622880896,
+            59.02661232803592
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1170.9742016052915,
+            -42.472513622880896,
+            59.02661232803592
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1173.5722778166448,
+            -43.972513622880896,
+            59.02661232803592
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1176.1703540279982,
+            -45.472513622880896,
+            59.02661232803592
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1178.7684302393516,
+            -46.972513622880896,
+            59.02661232803592
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1181.366506450705,
+            -48.472513622880896,
+            59.02661232803592
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1183.9645826620583,
+            -49.972513622880896,
+            59.02661232803592
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1186.5626588734117,
+            -51.472513622880896,
+            59.02661232803592
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1189.160735084765,
+            -52.972513622880896,
+            59.02661232803592
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1191.7588112961184,
+            -54.472513622880896,
+            59.02661232803592
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1194.3568875074718,
+            -55.972513622880896,
+            59.02661232803592
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1196.9549637188252,
+            -57.472513622880896,
+            59.02661232803592
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1199.5530399301786,
+            -58.972513622880896,
+            59.02661232803592
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1202.151116141532,
+            -60.472513622880896,
+            59.02661232803592
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1204.7491923528853,
+            -61.972513622880896,
+            59.02661232803592
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1207.3472685642387,
+            -63.472513622880896,
+            59.02661232803592
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1209.945344775592,
+            -64.9725136228809,
+            59.02661232803592
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1212.5434209869454,
+            -66.4725136228809,
+            59.02661232803592
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1215.1414971982988,
+            -67.9725136228809,
+            59.02661232803592
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1217.7395734096522,
+            -69.4725136228809,
+            59.02661232803592
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1220.3376496210055,
+            -70.9725136228809,
+            59.02661232803592
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1222.935725832359,
+            -72.4725136228809,
+            59.02661232803592
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1225.5338020437123,
+            -73.9725136228809,
+            59.02661232803592
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1228.1318782550657,
+            -75.4725136228809,
+            59.02661232803592
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1230.729954466419,
+            -76.9725136228809,
+            59.02661232803592
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1233.3280306777724,
+            -78.4725136228809,
+            59.02661232803592
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1235.9261068891258,
+            -79.9725136228809,
+            59.02661232803592
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1238.5241831004791,
+            -81.4725136228809,
+            59.02661232803592
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1241.1222593118325,
+            -82.9725136228809,
+            59.02661232803592
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1243.720335523186,
+            -84.4725136228809,
+            59.02661232803592
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1246.3184117345393,
+            -85.9725136228809,
+            59.02661232803592
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1248.9164879458926,
+            -87.4725136228809,
+            59.02661232803592
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1251.514564157246,
+            -88.9725136228809,
+            59.02661232803592
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1254.1126403685994,
+            -90.4725136228809,
+            59.02661232803592
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1254.1126403685994,
+            -90.4725136228809,
+            59.02661232803592
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -1255.6126403685994,
+            -93.07058983423421,
+            59.02661232803592
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -1257.1126403685994,
+            -95.66866604558753,
+            59.02661232803592
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -1258.6126403685994,
+            -98.26674225694084,
+            59.02661232803592
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1292.0,
+            -120.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_16-48-25_826047641/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_16-48-25_826047641/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..19ad78797f179242af98e0a1bdee4d8c5856a3b2
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_16-48-25_826047641/pose.jsonl
@@ -0,0 +1,652 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1626.461899655005,
+            918.3664296408921,
+            48.6207731450741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1627.961899655005,
+            915.7683534295388,
+            48.6207731450741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1629.461899655005,
+            913.1702772181854,
+            48.6207731450741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1630.961899655005,
+            910.5722010068321,
+            48.6207731450741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1632.461899655005,
+            907.9741247954787,
+            48.6207731450741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1633.961899655005,
+            905.3760485841253,
+            48.6207731450741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1635.461899655005,
+            902.777972372772,
+            48.6207731450741
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1635.461899655005,
+            902.777972372772,
+            48.6207731450741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1635.461899655005,
+            899.777972372772,
+            48.6207731450741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1635.461899655005,
+            896.777972372772,
+            48.6207731450741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1635.461899655005,
+            893.777972372772,
+            48.6207731450741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1635.461899655005,
+            890.777972372772,
+            48.6207731450741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1635.461899655005,
+            887.777972372772,
+            48.6207731450741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1635.461899655005,
+            884.777972372772,
+            48.6207731450741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1635.461899655005,
+            881.777972372772,
+            48.6207731450741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1635.461899655005,
+            878.777972372772,
+            48.6207731450741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1635.461899655005,
+            875.777972372772,
+            48.6207731450741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1635.461899655005,
+            872.777972372772,
+            48.6207731450741
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1635.461899655005,
+            872.777972372772,
+            48.6207731450741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1636.961899655005,
+            870.1798961614186,
+            48.6207731450741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1638.461899655005,
+            867.5818199500652,
+            48.6207731450741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1639.961899655005,
+            864.9837437387118,
+            48.6207731450741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1641.461899655005,
+            862.3856675273585,
+            48.6207731450741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1642.961899655005,
+            859.7875913160051,
+            48.6207731450741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1644.461899655005,
+            857.1895151046517,
+            48.6207731450741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1645.961899655005,
+            854.5914388932983,
+            48.6207731450741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1647.461899655005,
+            851.993362681945,
+            48.6207731450741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1648.961899655005,
+            849.3952864705916,
+            48.6207731450741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1650.461899655005,
+            846.7972102592382,
+            48.6207731450741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1651.961899655005,
+            844.1991340478849,
+            48.6207731450741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1653.461899655005,
+            841.6010578365315,
+            48.6207731450741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1654.961899655005,
+            839.0029816251781,
+            48.6207731450741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1656.461899655005,
+            836.4049054138247,
+            48.6207731450741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1657.961899655005,
+            833.8068292024714,
+            48.6207731450741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1659.461899655005,
+            831.208752991118,
+            48.6207731450741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1660.961899655005,
+            828.6106767797646,
+            48.6207731450741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1662.461899655005,
+            826.0126005684112,
+            48.6207731450741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1663.961899655005,
+            823.4145243570579,
+            48.6207731450741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1665.461899655005,
+            820.8164481457045,
+            48.6207731450741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1666.961899655005,
+            818.2183719343511,
+            48.6207731450741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -1668.461899655005,
+            815.6202957229978,
+            48.6207731450741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -1669.961899655005,
+            813.0222195116444,
+            48.6207731450741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -1671.461899655005,
+            810.424143300291,
+            48.6207731450741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -1672.961899655005,
+            807.8260670889376,
+            48.6207731450741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -1674.461899655005,
+            805.2279908775843,
+            48.6207731450741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -1675.961899655005,
+            802.6299146662309,
+            48.6207731450741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -1677.461899655005,
+            800.0318384548775,
+            48.6207731450741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -1678.961899655005,
+            797.4337622435241,
+            48.6207731450741
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -1680.461899655005,
+            794.8356860321708,
+            48.6207731450741
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1688.0,
+            772.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_17-21-14_126401947/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_17-21-14_126401947/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..254713e487cca23c18042b6b36349cc5c66a0938
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_17-21-14_126401947/pose.jsonl
@@ -0,0 +1,691 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -209.46279541077328,
+            67.34685580707313,
+            69.96355996206447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -206.46279541077328,
+            67.34685580707313,
+            69.96355996206447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -203.46279541077328,
+            67.34685580707313,
+            69.96355996206447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -200.46279541077328,
+            67.34685580707313,
+            69.96355996206447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -197.46279541077328,
+            67.34685580707313,
+            69.96355996206447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -194.46279541077328,
+            67.34685580707313,
+            69.96355996206447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -191.46279541077328,
+            67.34685580707313,
+            69.96355996206447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -188.46279541077328,
+            67.34685580707313,
+            69.96355996206447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -185.46279541077328,
+            67.34685580707313,
+            69.96355996206447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -182.46279541077328,
+            67.34685580707313,
+            69.96355996206447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -179.46279541077328,
+            67.34685580707313,
+            69.96355996206447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -176.46279541077328,
+            67.34685580707313,
+            69.96355996206447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -173.46279541077328,
+            67.34685580707313,
+            69.96355996206447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -170.46279541077328,
+            67.34685580707313,
+            69.96355996206447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -167.46279541077328,
+            67.34685580707313,
+            69.96355996206447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -164.46279541077328,
+            67.34685580707313,
+            69.96355996206447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -161.46279541077328,
+            67.34685580707313,
+            69.96355996206447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -158.46279541077328,
+            67.34685580707313,
+            69.96355996206447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -155.46279541077328,
+            67.34685580707313,
+            69.96355996206447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -152.46279541077328,
+            67.34685580707313,
+            69.96355996206447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -149.46279541077328,
+            67.34685580707313,
+            69.96355996206447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -146.46279541077328,
+            67.34685580707313,
+            69.96355996206447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -143.46279541077328,
+            67.34685580707313,
+            69.96355996206447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -140.46279541077328,
+            67.34685580707313,
+            69.96355996206447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -137.46279541077328,
+            67.34685580707313,
+            69.96355996206447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -134.46279541077328,
+            67.34685580707313,
+            69.96355996206447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -131.46279541077328,
+            67.34685580707313,
+            69.96355996206447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -128.46279541077328,
+            67.34685580707313,
+            69.96355996206447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -125.46279541077328,
+            67.34685580707313,
+            69.96355996206447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -122.46279541077328,
+            67.34685580707313,
+            69.96355996206447
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -122.46279541077328,
+            67.34685580707313,
+            69.96355996206447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -119.86471919941997,
+            68.84685580707313,
+            69.96355996206447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -117.26664298806665,
+            70.34685580707313,
+            69.96355996206447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -114.66856677671333,
+            71.84685580707313,
+            69.96355996206447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -112.07049056536002,
+            73.34685580707313,
+            69.96355996206447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -109.4724143540067,
+            74.84685580707313,
+            69.96355996206447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -106.87433814265339,
+            76.34685580707313,
+            69.96355996206447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -104.27626193130007,
+            77.84685580707313,
+            69.96355996206447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -101.67818571994675,
+            79.34685580707313,
+            69.96355996206447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -99.08010950859344,
+            80.84685580707313,
+            69.96355996206447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -96.48203329724012,
+            82.34685580707313,
+            69.96355996206447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -93.8839570858868,
+            83.84685580707313,
+            69.96355996206447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -91.28588087453349,
+            85.34685580707313,
+            69.96355996206447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -88.68780466318017,
+            86.84685580707313,
+            69.96355996206447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -86.08972845182686,
+            88.34685580707313,
+            69.96355996206447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -83.49165224047354,
+            89.84685580707313,
+            69.96355996206447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -80.89357602912023,
+            91.34685580707313,
+            69.96355996206447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -78.29549981776691,
+            92.84685580707313,
+            69.96355996206447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -75.6974236064136,
+            94.34685580707313,
+            69.96355996206447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -73.09934739506028,
+            95.84685580707313,
+            69.96355996206447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -70.50127118370696,
+            97.34685580707313,
+            69.96355996206447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -67.90319497235365,
+            98.84685580707313,
+            69.96355996206447
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -40.0,
+            104.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_17-29-59_2073785404/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_17-29-59_2073785404/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..14de5ece2d30e44ef13e69da7a232b9d6c131480
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_17-29-59_2073785404/pose.jsonl
@@ -0,0 +1,548 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1007.4325045369369,
+            790.9950403062492,
+            42.68747978390287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1004.8344283255835,
+            792.4950403062492,
+            42.68747978390287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1002.2363521142302,
+            793.9950403062492,
+            42.68747978390287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            999.6382759028768,
+            795.4950403062492,
+            42.68747978390287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            997.0401996915234,
+            796.9950403062492,
+            42.68747978390287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            994.44212348017,
+            798.4950403062492,
+            42.68747978390287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            991.8440472688167,
+            799.9950403062492,
+            42.68747978390287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            989.2459710574633,
+            801.4950403062492,
+            42.68747978390287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            986.6478948461099,
+            802.9950403062492,
+            42.68747978390287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            984.0498186347565,
+            804.4950403062492,
+            42.68747978390287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            981.4517424234032,
+            805.9950403062492,
+            42.68747978390287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            978.8536662120498,
+            807.4950403062492,
+            42.68747978390287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            976.2555900006964,
+            808.9950403062492,
+            42.68747978390287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            973.657513789343,
+            810.4950403062492,
+            42.68747978390287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            971.0594375779897,
+            811.9950403062492,
+            42.68747978390287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            968.4613613666363,
+            813.4950403062492,
+            42.68747978390287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            965.8632851552829,
+            814.9950403062492,
+            42.68747978390287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            963.2652089439296,
+            816.4950403062492,
+            42.68747978390287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            960.6671327325762,
+            817.9950403062492,
+            42.68747978390287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            958.0690565212228,
+            819.4950403062492,
+            42.68747978390287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            955.4709803098694,
+            820.9950403062492,
+            42.68747978390287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            952.8729040985161,
+            822.4950403062492,
+            42.68747978390287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            950.2748278871627,
+            823.9950403062492,
+            42.68747978390287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            947.6767516758093,
+            825.4950403062492,
+            42.68747978390287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            945.078675464456,
+            826.9950403062492,
+            42.68747978390287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            942.4805992531026,
+            828.4950403062492,
+            42.68747978390287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            939.8825230417492,
+            829.9950403062492,
+            42.68747978390287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            937.2844468303958,
+            831.4950403062492,
+            42.68747978390287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            934.6863706190425,
+            832.9950403062492,
+            42.68747978390287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            932.0882944076891,
+            834.4950403062492,
+            42.68747978390287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            929.4902181963357,
+            835.9950403062492,
+            42.68747978390287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            926.8921419849823,
+            837.4950403062492,
+            42.68747978390287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            924.294065773629,
+            838.9950403062492,
+            42.68747978390287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            921.6959895622756,
+            840.4950403062492,
+            42.68747978390287
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            921.6959895622756,
+            840.4950403062492,
+            42.68747978390287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            918.6959895622756,
+            840.4950403062492,
+            42.68747978390287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            915.6959895622756,
+            840.4950403062492,
+            42.68747978390287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            912.6959895622756,
+            840.4950403062492,
+            42.68747978390287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            909.6959895622756,
+            840.4950403062492,
+            42.68747978390287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            906.6959895622756,
+            840.4950403062492,
+            42.68747978390287
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            903.6959895622756,
+            840.4950403062492,
+            42.68747978390287
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            868.0,
+            856.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_18-32-55_1520982030/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_18-32-55_1520982030/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f0b8cb4131ee3cdc848bc702f35cf156adc999c8
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_18-32-55_1520982030/pose.jsonl
@@ -0,0 +1,600 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1571.6558814522186,
+            -244.4206182021909,
+            53.56179738906604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1569.0578052408653,
+            -242.9206182021909,
+            53.56179738906604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1566.459729029512,
+            -241.4206182021909,
+            53.56179738906604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1563.8616528181585,
+            -239.9206182021909,
+            53.56179738906604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1561.2635766068051,
+            -238.4206182021909,
+            53.56179738906604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1558.6655003954518,
+            -236.9206182021909,
+            53.56179738906604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1556.0674241840984,
+            -235.4206182021909,
+            53.56179738906604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1553.469347972745,
+            -233.9206182021909,
+            53.56179738906604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1550.8712717613917,
+            -232.4206182021909,
+            53.56179738906604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1548.2731955500383,
+            -230.9206182021909,
+            53.56179738906604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1545.675119338685,
+            -229.4206182021909,
+            53.56179738906604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1543.0770431273315,
+            -227.9206182021909,
+            53.56179738906604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1540.4789669159782,
+            -226.4206182021909,
+            53.56179738906604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1537.8808907046248,
+            -224.9206182021909,
+            53.56179738906604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1535.2828144932714,
+            -223.4206182021909,
+            53.56179738906604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1532.684738281918,
+            -221.9206182021909,
+            53.56179738906604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1530.0866620705647,
+            -220.4206182021909,
+            53.56179738906604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1527.4885858592113,
+            -218.9206182021909,
+            53.56179738906604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1524.890509647858,
+            -217.4206182021909,
+            53.56179738906604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1522.2924334365046,
+            -215.9206182021909,
+            53.56179738906604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1519.6943572251512,
+            -214.4206182021909,
+            53.56179738906604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1517.0962810137978,
+            -212.9206182021909,
+            53.56179738906604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1514.4982048024444,
+            -211.4206182021909,
+            53.56179738906604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1511.900128591091,
+            -209.9206182021909,
+            53.56179738906604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1509.3020523797377,
+            -208.4206182021909,
+            53.56179738906604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1506.7039761683843,
+            -206.9206182021909,
+            53.56179738906604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1504.105899957031,
+            -205.4206182021909,
+            53.56179738906604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1501.5078237456776,
+            -203.9206182021909,
+            53.56179738906604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1498.9097475343242,
+            -202.4206182021909,
+            53.56179738906604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1496.3116713229708,
+            -200.9206182021909,
+            53.56179738906604
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1496.3116713229708,
+            -200.9206182021909,
+            53.56179738906604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1494.8116713229708,
+            -198.32254199083758,
+            53.56179738906604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1493.3116713229708,
+            -195.72446577948426,
+            53.56179738906604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1491.8116713229708,
+            -193.12638956813095,
+            53.56179738906604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1490.3116713229708,
+            -190.52831335677763,
+            53.56179738906604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1488.8116713229708,
+            -187.93023714542431,
+            53.56179738906604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1487.3116713229708,
+            -185.332160934071,
+            53.56179738906604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1485.8116713229708,
+            -182.73408472271768,
+            53.56179738906604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1484.3116713229708,
+            -180.13600851136437,
+            53.56179738906604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1482.8116713229708,
+            -177.53793230001105,
+            53.56179738906604
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1482.8116713229708,
+            -177.53793230001105,
+            53.56179738906604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1480.2135951116175,
+            -176.03793230001105,
+            53.56179738906604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1477.615518900264,
+            -174.53793230001105,
+            53.56179738906604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1475.0174426889107,
+            -173.03793230001105,
+            53.56179738906604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1472.4193664775573,
+            -171.53793230001105,
+            53.56179738906604
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1440.0,
+            -148.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_18-9-8_362575055/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_18-9-8_362575055/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e13af632ac8079282ef6800b05ca04d8659bb5cb
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_18-9-8_362575055/pose.jsonl
@@ -0,0 +1,639 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -881.4869192720646,
+            -320.4509063187025,
+            55.74638424301553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -879.9869192720646,
+            -323.0489825300558,
+            55.74638424301553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -878.4869192720646,
+            -325.6470587414091,
+            55.74638424301553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -876.9869192720646,
+            -328.24513495276244,
+            55.74638424301553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -875.4869192720646,
+            -330.84321116411576,
+            55.74638424301553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -873.9869192720646,
+            -333.4412873754691,
+            55.74638424301553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -872.4869192720646,
+            -336.0393635868224,
+            55.74638424301553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -870.9869192720646,
+            -338.6374397981757,
+            55.74638424301553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -869.4869192720646,
+            -341.235516009529,
+            55.74638424301553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -867.9869192720646,
+            -343.83359222088234,
+            55.74638424301553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -866.4869192720646,
+            -346.43166843223565,
+            55.74638424301553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -864.9869192720646,
+            -349.02974464358897,
+            55.74638424301553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -863.4869192720646,
+            -351.6278208549423,
+            55.74638424301553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -861.9869192720646,
+            -354.2258970662956,
+            55.74638424301553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -860.4869192720646,
+            -356.8239732776489,
+            55.74638424301553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -858.9869192720646,
+            -359.42204948900223,
+            55.74638424301553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -857.4869192720646,
+            -362.02012570035555,
+            55.74638424301553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -855.9869192720646,
+            -364.61820191170887,
+            55.74638424301553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -854.4869192720646,
+            -367.2162781230622,
+            55.74638424301553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -852.9869192720646,
+            -369.8143543344155,
+            55.74638424301553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -851.4869192720646,
+            -372.4124305457688,
+            55.74638424301553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -849.9869192720646,
+            -375.01050675712213,
+            55.74638424301553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -848.4869192720646,
+            -377.60858296847545,
+            55.74638424301553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -846.9869192720646,
+            -380.20665917982876,
+            55.74638424301553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -845.4869192720646,
+            -382.8047353911821,
+            55.74638424301553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -843.9869192720646,
+            -385.4028116025354,
+            55.74638424301553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -842.4869192720646,
+            -388.0008878138887,
+            55.74638424301553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -840.9869192720646,
+            -390.598964025242,
+            55.74638424301553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -839.4869192720646,
+            -393.19704023659534,
+            55.74638424301553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -837.9869192720646,
+            -395.79511644794866,
+            55.74638424301553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -836.4869192720646,
+            -398.393192659302,
+            55.74638424301553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -834.9869192720646,
+            -400.9912688706553,
+            55.74638424301553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -833.4869192720646,
+            -403.5893450820086,
+            55.74638424301553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -831.9869192720646,
+            -406.1874212933619,
+            55.74638424301553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -830.4869192720646,
+            -408.78549750471524,
+            55.74638424301553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -828.9869192720646,
+            -411.38357371606855,
+            55.74638424301553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -827.4869192720646,
+            -413.98164992742187,
+            55.74638424301553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -825.9869192720646,
+            -416.5797261387752,
+            55.74638424301553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -824.4869192720646,
+            -419.1778023501285,
+            55.74638424301553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -822.9869192720646,
+            -421.7758785614818,
+            55.74638424301553
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -822.9869192720646,
+            -421.7758785614818,
+            55.74638424301553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -822.9869192720646,
+            -424.7758785614818,
+            55.74638424301553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -822.9869192720646,
+            -427.7758785614818,
+            55.74638424301553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -822.9869192720646,
+            -430.7758785614818,
+            55.74638424301553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -822.9869192720646,
+            -433.7758785614818,
+            55.74638424301553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -822.9869192720646,
+            -436.7758785614818,
+            55.74638424301553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -822.9869192720646,
+            -439.7758785614818,
+            55.74638424301553
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -822.9869192720646,
+            -442.7758785614818,
+            55.74638424301553
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -816.0,
+            -460.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_19-3-15_262178224/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_19-3-15_262178224/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4f7981b2b7e8049f6daa3010d7c799f776d81bac
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_19-3-15_262178224/pose.jsonl
@@ -0,0 +1,561 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            985.6601949813628,
+            -675.2262686638761,
+            61.94871932795991
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            984.1601949813628,
+            -672.6281924525229,
+            61.94871932795991
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            982.6601949813628,
+            -670.0301162411695,
+            61.94871932795991
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            981.1601949813628,
+            -667.4320400298161,
+            61.94871932795991
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            979.6601949813628,
+            -664.8339638184627,
+            61.94871932795991
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            978.1601949813628,
+            -662.2358876071094,
+            61.94871932795991
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            976.6601949813628,
+            -659.637811395756,
+            61.94871932795991
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            975.1601949813628,
+            -657.0397351844026,
+            61.94871932795991
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            973.6601949813628,
+            -654.4416589730492,
+            61.94871932795991
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            972.1601949813628,
+            -651.8435827616959,
+            61.94871932795991
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            970.6601949813628,
+            -649.2455065503425,
+            61.94871932795991
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            969.1601949813628,
+            -646.6474303389891,
+            61.94871932795991
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            967.6601949813628,
+            -644.0493541276358,
+            61.94871932795991
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            966.1601949813628,
+            -641.4512779162824,
+            61.94871932795991
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            964.6601949813628,
+            -638.853201704929,
+            61.94871932795991
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            963.1601949813628,
+            -636.2551254935756,
+            61.94871932795991
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            961.6601949813628,
+            -633.6570492822223,
+            61.94871932795991
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            960.1601949813628,
+            -631.0589730708689,
+            61.94871932795991
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            958.6601949813628,
+            -628.4608968595155,
+            61.94871932795991
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            957.1601949813628,
+            -625.8628206481621,
+            61.94871932795991
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            955.6601949813628,
+            -623.2647444368088,
+            61.94871932795991
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            954.1601949813628,
+            -620.6666682254554,
+            61.94871932795991
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            952.6601949813628,
+            -618.068592014102,
+            61.94871932795991
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            951.1601949813628,
+            -615.4705158027487,
+            61.94871932795991
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            949.6601949813628,
+            -612.8724395913953,
+            61.94871932795991
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            948.1601949813628,
+            -610.2743633800419,
+            61.94871932795991
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            946.6601949813628,
+            -607.6762871686885,
+            61.94871932795991
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            945.1601949813628,
+            -605.0782109573352,
+            61.94871932795991
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            943.6601949813628,
+            -602.4801347459818,
+            61.94871932795991
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            942.1601949813628,
+            -599.8820585346284,
+            61.94871932795991
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            940.6601949813628,
+            -597.283982323275,
+            61.94871932795991
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            939.1601949813628,
+            -594.6859061119217,
+            61.94871932795991
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            937.6601949813628,
+            -592.0878299005683,
+            61.94871932795991
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            936.1601949813628,
+            -589.4897536892149,
+            61.94871932795991
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            934.6601949813628,
+            -586.8916774778615,
+            61.94871932795991
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            933.1601949813628,
+            -584.2936012665082,
+            61.94871932795991
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            931.6601949813628,
+            -581.6955250551548,
+            61.94871932795991
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            930.1601949813628,
+            -579.0974488438014,
+            61.94871932795991
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            928.6601949813628,
+            -576.4993726324481,
+            61.94871932795991
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            928.6601949813628,
+            -576.4993726324481,
+            61.94871932795991
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            928.6601949813628,
+            -573.4993726324481,
+            61.94871932795991
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            928.6601949813628,
+            -570.4993726324481,
+            61.94871932795991
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            912.0,
+            -540.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_20-5-53_413360099/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_20-5-53_413360099/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7e9dbb67dda93635e42d5ccba1dacd5bdde45a24
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_20-5-53_413360099/pose.jsonl
@@ -0,0 +1,678 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1310.1641888921451,
+            -1151.8759359796225,
+            68.68033222157221
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1313.1641888921451,
+            -1151.8759359796225,
+            68.68033222157221
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1316.1641888921451,
+            -1151.8759359796225,
+            68.68033222157221
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1319.1641888921451,
+            -1151.8759359796225,
+            68.68033222157221
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1322.1641888921451,
+            -1151.8759359796225,
+            68.68033222157221
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1325.1641888921451,
+            -1151.8759359796225,
+            68.68033222157221
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1328.1641888921451,
+            -1151.8759359796225,
+            68.68033222157221
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1331.1641888921451,
+            -1151.8759359796225,
+            68.68033222157221
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1334.1641888921451,
+            -1151.8759359796225,
+            68.68033222157221
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1334.1641888921451,
+            -1151.8759359796225,
+            68.68033222157221
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1336.7622651034985,
+            -1150.3759359796225,
+            68.68033222157221
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1339.360341314852,
+            -1148.8759359796225,
+            68.68033222157221
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1341.9584175262053,
+            -1147.3759359796225,
+            68.68033222157221
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1344.5564937375586,
+            -1145.8759359796225,
+            68.68033222157221
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1347.154569948912,
+            -1144.3759359796225,
+            68.68033222157221
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1349.7526461602654,
+            -1142.8759359796225,
+            68.68033222157221
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1352.3507223716188,
+            -1141.3759359796225,
+            68.68033222157221
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1354.9487985829721,
+            -1139.8759359796225,
+            68.68033222157221
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1357.5468747943255,
+            -1138.3759359796225,
+            68.68033222157221
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1360.1449510056789,
+            -1136.8759359796225,
+            68.68033222157221
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1362.7430272170322,
+            -1135.3759359796225,
+            68.68033222157221
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1365.3411034283856,
+            -1133.8759359796225,
+            68.68033222157221
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1367.939179639739,
+            -1132.3759359796225,
+            68.68033222157221
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1370.5372558510924,
+            -1130.8759359796225,
+            68.68033222157221
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1373.1353320624457,
+            -1129.3759359796225,
+            68.68033222157221
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1375.7334082737991,
+            -1127.8759359796225,
+            68.68033222157221
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1378.3314844851525,
+            -1126.3759359796225,
+            68.68033222157221
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1380.9295606965059,
+            -1124.8759359796225,
+            68.68033222157221
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1383.5276369078592,
+            -1123.3759359796225,
+            68.68033222157221
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1386.1257131192126,
+            -1121.8759359796225,
+            68.68033222157221
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1388.723789330566,
+            -1120.3759359796225,
+            68.68033222157221
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1391.3218655419194,
+            -1118.8759359796225,
+            68.68033222157221
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1393.9199417532727,
+            -1117.3759359796225,
+            68.68033222157221
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1396.518017964626,
+            -1115.8759359796225,
+            68.68033222157221
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1399.1160941759795,
+            -1114.3759359796225,
+            68.68033222157221
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1401.7141703873328,
+            -1112.8759359796225,
+            68.68033222157221
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1404.3122465986862,
+            -1111.3759359796225,
+            68.68033222157221
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1406.9103228100396,
+            -1109.8759359796225,
+            68.68033222157221
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1409.508399021393,
+            -1108.3759359796225,
+            68.68033222157221
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1412.1064752327463,
+            -1106.8759359796225,
+            68.68033222157221
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1414.7045514440997,
+            -1105.3759359796225,
+            68.68033222157221
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1417.302627655453,
+            -1103.8759359796225,
+            68.68033222157221
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1419.9007038668065,
+            -1102.3759359796225,
+            68.68033222157221
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1422.4987800781598,
+            -1100.8759359796225,
+            68.68033222157221
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1425.0968562895132,
+            -1099.3759359796225,
+            68.68033222157221
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1427.6949325008666,
+            -1097.8759359796225,
+            68.68033222157221
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1430.29300871222,
+            -1096.3759359796225,
+            68.68033222157221
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1432.8910849235733,
+            -1094.8759359796225,
+            68.68033222157221
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1435.4891611349267,
+            -1093.3759359796225,
+            68.68033222157221
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1438.08723734628,
+            -1091.8759359796225,
+            68.68033222157221
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            1440.6853135576334,
+            -1090.3759359796225,
+            68.68033222157221
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1464.0,
+            -1080.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_21-0-44_1994320152/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_21-0-44_1994320152/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7a0932f63b018763b2ff997b6af1876523e089c1
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_21-0-44_1994320152/pose.jsonl
@@ -0,0 +1,587 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1186.380613784907,
+            244.67270463947878,
+            40.70630963706822
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1187.880613784907,
+            242.07462842812546,
+            40.70630963706822
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1189.380613784907,
+            239.47655221677215,
+            40.70630963706822
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1190.880613784907,
+            236.87847600541883,
+            40.70630963706822
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1192.380613784907,
+            234.28039979406552,
+            40.70630963706822
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1193.880613784907,
+            231.6823235827122,
+            40.70630963706822
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1195.380613784907,
+            229.08424737135888,
+            40.70630963706822
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1196.880613784907,
+            226.48617116000557,
+            40.70630963706822
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1198.380613784907,
+            223.88809494865225,
+            40.70630963706822
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1199.880613784907,
+            221.29001873729894,
+            40.70630963706822
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1201.380613784907,
+            218.69194252594562,
+            40.70630963706822
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1202.880613784907,
+            216.0938663145923,
+            40.70630963706822
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1204.380613784907,
+            213.495790103239,
+            40.70630963706822
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1205.880613784907,
+            210.89771389188567,
+            40.70630963706822
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1207.380613784907,
+            208.29963768053236,
+            40.70630963706822
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1208.880613784907,
+            205.70156146917904,
+            40.70630963706822
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1210.380613784907,
+            203.10348525782572,
+            40.70630963706822
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1211.880613784907,
+            200.5054090464724,
+            40.70630963706822
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1213.380613784907,
+            197.9073328351191,
+            40.70630963706822
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1214.880613784907,
+            195.30925662376578,
+            40.70630963706822
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1216.380613784907,
+            192.71118041241246,
+            40.70630963706822
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1217.880613784907,
+            190.11310420105914,
+            40.70630963706822
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1219.380613784907,
+            187.51502798970583,
+            40.70630963706822
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1220.880613784907,
+            184.9169517783525,
+            40.70630963706822
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1222.380613784907,
+            182.3188755669992,
+            40.70630963706822
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1223.880613784907,
+            179.72079935564588,
+            40.70630963706822
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1225.380613784907,
+            177.12272314429256,
+            40.70630963706822
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1226.880613784907,
+            174.52464693293925,
+            40.70630963706822
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1228.380613784907,
+            171.92657072158593,
+            40.70630963706822
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1229.880613784907,
+            169.32849451023262,
+            40.70630963706822
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1231.380613784907,
+            166.7304182988793,
+            40.70630963706822
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1232.880613784907,
+            164.13234208752598,
+            40.70630963706822
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1234.380613784907,
+            161.53426587617267,
+            40.70630963706822
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1235.880613784907,
+            158.93618966481935,
+            40.70630963706822
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1237.380613784907,
+            156.33811345346604,
+            40.70630963706822
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1238.880613784907,
+            153.74003724211272,
+            40.70630963706822
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1240.380613784907,
+            151.1419610307594,
+            40.70630963706822
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1241.880613784907,
+            148.5438848194061,
+            40.70630963706822
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1241.880613784907,
+            148.5438848194061,
+            40.70630963706822
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1244.4786899962603,
+            147.0438848194061,
+            40.70630963706822
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -1247.0767662076137,
+            145.5438848194061,
+            40.70630963706822
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -1249.674842418967,
+            144.0438848194061,
+            40.70630963706822
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -1252.2729186303204,
+            142.5438848194061,
+            40.70630963706822
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -1254.8709948416738,
+            141.0438848194061,
+            40.70630963706822
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1284.0,
+            100.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_22-26-11_837626799/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_22-26-11_837626799/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5866c5692a7de800b47b02e3c92e7c8171ef5eca
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_22-26-11_837626799/pose.jsonl
@@ -0,0 +1,678 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            795.6264248734336,
+            -1663.9433886306226,
+            56.197915982000474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            793.0283486620804,
+            -1665.4433886306226,
+            56.197915982000474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            790.430272450727,
+            -1666.9433886306226,
+            56.197915982000474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            787.8321962393736,
+            -1668.4433886306226,
+            56.197915982000474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            785.2341200280202,
+            -1669.9433886306226,
+            56.197915982000474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            782.6360438166669,
+            -1671.4433886306226,
+            56.197915982000474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            780.0379676053135,
+            -1672.9433886306226,
+            56.197915982000474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            777.4398913939601,
+            -1674.4433886306226,
+            56.197915982000474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            774.8418151826068,
+            -1675.9433886306226,
+            56.197915982000474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            772.2437389712534,
+            -1677.4433886306226,
+            56.197915982000474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            769.6456627599,
+            -1678.9433886306226,
+            56.197915982000474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            767.0475865485466,
+            -1680.4433886306226,
+            56.197915982000474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            764.4495103371933,
+            -1681.9433886306226,
+            56.197915982000474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            761.8514341258399,
+            -1683.4433886306226,
+            56.197915982000474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            759.2533579144865,
+            -1684.9433886306226,
+            56.197915982000474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            756.6552817031331,
+            -1686.4433886306226,
+            56.197915982000474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            754.0572054917798,
+            -1687.9433886306226,
+            56.197915982000474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            751.4591292804264,
+            -1689.4433886306226,
+            56.197915982000474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            748.861053069073,
+            -1690.9433886306226,
+            56.197915982000474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            746.2629768577197,
+            -1692.4433886306226,
+            56.197915982000474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            743.6649006463663,
+            -1693.9433886306226,
+            56.197915982000474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            741.0668244350129,
+            -1695.4433886306226,
+            56.197915982000474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            738.4687482236595,
+            -1696.9433886306226,
+            56.197915982000474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            735.8706720123062,
+            -1698.4433886306226,
+            56.197915982000474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            733.2725958009528,
+            -1699.9433886306226,
+            56.197915982000474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            730.6745195895994,
+            -1701.4433886306226,
+            56.197915982000474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            728.076443378246,
+            -1702.9433886306226,
+            56.197915982000474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            725.4783671668927,
+            -1704.4433886306226,
+            56.197915982000474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            722.8802909555393,
+            -1705.9433886306226,
+            56.197915982000474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            720.2822147441859,
+            -1707.4433886306226,
+            56.197915982000474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            717.6841385328325,
+            -1708.9433886306226,
+            56.197915982000474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            715.0860623214792,
+            -1710.4433886306226,
+            56.197915982000474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            712.4879861101258,
+            -1711.9433886306226,
+            56.197915982000474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            709.8899098987724,
+            -1713.4433886306226,
+            56.197915982000474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            707.2918336874191,
+            -1714.9433886306226,
+            56.197915982000474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            704.6937574760657,
+            -1716.4433886306226,
+            56.197915982000474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            702.0956812647123,
+            -1717.9433886306226,
+            56.197915982000474
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            702.0956812647123,
+            -1717.9433886306226,
+            56.197915982000474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            700.5956812647123,
+            -1720.541464841976,
+            56.197915982000474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            699.0956812647123,
+            -1723.1395410533294,
+            56.197915982000474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            697.5956812647123,
+            -1725.7376172646827,
+            56.197915982000474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            696.0956812647123,
+            -1728.335693476036,
+            56.197915982000474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            694.5956812647123,
+            -1730.9337696873895,
+            56.197915982000474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            693.0956812647123,
+            -1733.5318458987429,
+            56.197915982000474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            691.5956812647123,
+            -1736.1299221100962,
+            56.197915982000474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            690.0956812647123,
+            -1738.7279983214496,
+            56.197915982000474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            688.5956812647123,
+            -1741.326074532803,
+            56.197915982000474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            687.0956812647123,
+            -1743.9241507441563,
+            56.197915982000474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            685.5956812647123,
+            -1746.5222269555097,
+            56.197915982000474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            684.0956812647123,
+            -1749.120303166863,
+            56.197915982000474
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            682.5956812647123,
+            -1751.7183793782165,
+            56.197915982000474
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            656.0,
+            -1776.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_22-4-27_1237979969/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_22-4-27_1237979969/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f8bca18897976cb9ef1441b1e0f8acc186f1bc36
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_22-4-27_1237979969/pose.jsonl
@@ -0,0 +1,67 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1775.4625294279454,
+            -331.5914905734624,
+            49.40222957615222
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1778.0606056392987,
+            -330.0914905734624,
+            49.40222957615222
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1780.658681850652,
+            -328.5914905734624,
+            49.40222957615222
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1783.2567580620055,
+            -327.0914905734624,
+            49.40222957615222
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1936.0,
+            -272.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-10-5_79065186/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-10-5_79065186/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b31ecde7b9fe8b6f8cbf6e38628ceb949cc56976
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-10-5_79065186/pose.jsonl
@@ -0,0 +1,574 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            309.6269062095737,
+            -282.8707946341099,
+            55.87412119450676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            308.1269062095737,
+            -280.2727184227566,
+            55.87412119450676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            306.6269062095737,
+            -277.6746422114033,
+            55.87412119450676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            305.1269062095737,
+            -275.07656600005,
+            55.87412119450676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            303.6269062095737,
+            -272.47848978869666,
+            55.87412119450676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            302.1269062095737,
+            -269.88041357734335,
+            55.87412119450676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            300.6269062095737,
+            -267.28233736599003,
+            55.87412119450676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            299.1269062095737,
+            -264.6842611546367,
+            55.87412119450676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            297.6269062095737,
+            -262.0861849432834,
+            55.87412119450676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            296.1269062095737,
+            -259.4881087319301,
+            55.87412119450676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            294.6269062095737,
+            -256.89003252057677,
+            55.87412119450676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            293.1269062095737,
+            -254.29195630922345,
+            55.87412119450676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            291.6269062095737,
+            -251.69388009787014,
+            55.87412119450676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            290.1269062095737,
+            -249.09580388651682,
+            55.87412119450676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            288.6269062095737,
+            -246.4977276751635,
+            55.87412119450676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            287.1269062095737,
+            -243.8996514638102,
+            55.87412119450676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            285.6269062095737,
+            -241.30157525245687,
+            55.87412119450676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            284.1269062095737,
+            -238.70349904110356,
+            55.87412119450676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            282.6269062095737,
+            -236.10542282975024,
+            55.87412119450676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            281.1269062095737,
+            -233.50734661839692,
+            55.87412119450676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            279.6269062095737,
+            -230.9092704070436,
+            55.87412119450676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            278.1269062095737,
+            -228.3111941956903,
+            55.87412119450676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            276.6269062095737,
+            -225.71311798433698,
+            55.87412119450676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            275.1269062095737,
+            -223.11504177298366,
+            55.87412119450676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            273.6269062095737,
+            -220.51696556163034,
+            55.87412119450676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            272.1269062095737,
+            -217.91888935027703,
+            55.87412119450676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            270.6269062095737,
+            -215.3208131389237,
+            55.87412119450676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            269.1269062095737,
+            -212.7227369275704,
+            55.87412119450676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            267.6269062095737,
+            -210.12466071621708,
+            55.87412119450676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            266.1269062095737,
+            -207.52658450486376,
+            55.87412119450676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            264.6269062095737,
+            -204.92850829351045,
+            55.87412119450676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            263.1269062095737,
+            -202.33043208215713,
+            55.87412119450676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            261.6269062095737,
+            -199.73235587080381,
+            55.87412119450676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            260.1269062095737,
+            -197.1342796594505,
+            55.87412119450676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            258.6269062095737,
+            -194.53620344809718,
+            55.87412119450676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            257.1269062095737,
+            -191.93812723674387,
+            55.87412119450676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            255.6269062095737,
+            -189.34005102539055,
+            55.87412119450676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            254.1269062095737,
+            -186.74197481403723,
+            55.87412119450676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            252.6269062095737,
+            -184.14389860268392,
+            55.87412119450676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            251.1269062095737,
+            -181.5458223913306,
+            55.87412119450676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            249.6269062095737,
+            -178.9477461799773,
+            55.87412119450676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            248.1269062095737,
+            -176.34966996862397,
+            55.87412119450676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            246.6269062095737,
+            -173.75159375727065,
+            55.87412119450676
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            232.0,
+            -152.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-41-17_1091714937/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-41-17_1091714937/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..21c3ab0ea5845663206e7f587f5dabe5aac7de0c
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-41-17_1091714937/pose.jsonl
@@ -0,0 +1,639 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1320.2839936926448,
+            327.5306719457301,
+            55.51688830221887
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1318.7839936926448,
+            330.1287481570834,
+            55.51688830221887
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1317.2839936926448,
+            332.7268243684367,
+            55.51688830221887
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1315.7839936926448,
+            335.32490057979004,
+            55.51688830221887
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1314.2839936926448,
+            337.92297679114336,
+            55.51688830221887
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1312.7839936926448,
+            340.52105300249667,
+            55.51688830221887
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1311.2839936926448,
+            343.11912921385,
+            55.51688830221887
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1309.7839936926448,
+            345.7172054252033,
+            55.51688830221887
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1308.2839936926448,
+            348.3152816365566,
+            55.51688830221887
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1306.7839936926448,
+            350.91335784790994,
+            55.51688830221887
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1305.2839936926448,
+            353.51143405926325,
+            55.51688830221887
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1303.7839936926448,
+            356.10951027061657,
+            55.51688830221887
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1302.2839936926448,
+            358.7075864819699,
+            55.51688830221887
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1300.7839936926448,
+            361.3056626933232,
+            55.51688830221887
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1299.2839936926448,
+            363.9037389046765,
+            55.51688830221887
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1297.7839936926448,
+            366.50181511602983,
+            55.51688830221887
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1296.2839936926448,
+            369.09989132738315,
+            55.51688830221887
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1294.7839936926448,
+            371.69796753873646,
+            55.51688830221887
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1293.2839936926448,
+            374.2960437500898,
+            55.51688830221887
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1291.7839936926448,
+            376.8941199614431,
+            55.51688830221887
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1290.2839936926448,
+            379.4921961727964,
+            55.51688830221887
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1288.7839936926448,
+            382.0902723841497,
+            55.51688830221887
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1287.2839936926448,
+            384.68834859550304,
+            55.51688830221887
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1285.7839936926448,
+            387.28642480685636,
+            55.51688830221887
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1284.2839936926448,
+            389.8845010182097,
+            55.51688830221887
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1282.7839936926448,
+            392.482577229563,
+            55.51688830221887
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1281.2839936926448,
+            395.0806534409163,
+            55.51688830221887
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1279.7839936926448,
+            397.6787296522696,
+            55.51688830221887
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1278.2839936926448,
+            400.27680586362294,
+            55.51688830221887
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1276.7839936926448,
+            402.87488207497626,
+            55.51688830221887
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1275.2839936926448,
+            405.4729582863296,
+            55.51688830221887
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1273.7839936926448,
+            408.0710344976829,
+            55.51688830221887
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1272.2839936926448,
+            410.6691107090362,
+            55.51688830221887
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1270.7839936926448,
+            413.2671869203895,
+            55.51688830221887
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1269.2839936926448,
+            415.86526313174284,
+            55.51688830221887
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1267.7839936926448,
+            418.46333934309615,
+            55.51688830221887
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1266.2839936926448,
+            421.06141555444947,
+            55.51688830221887
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1264.7839936926448,
+            423.6594917658028,
+            55.51688830221887
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1263.2839936926448,
+            426.2575679771561,
+            55.51688830221887
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1261.7839936926448,
+            428.8556441885094,
+            55.51688830221887
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1261.7839936926448,
+            428.8556441885094,
+            55.51688830221887
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1259.1859174812914,
+            430.3556441885094,
+            55.51688830221887
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1256.587841269938,
+            431.8556441885094,
+            55.51688830221887
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1253.9897650585847,
+            433.3556441885094,
+            55.51688830221887
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1251.3916888472313,
+            434.8556441885094,
+            55.51688830221887
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1251.3916888472313,
+            434.8556441885094,
+            55.51688830221887
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1249.8916888472313,
+            437.45372039986273,
+            55.51688830221887
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1248.3916888472313,
+            440.05179661121605,
+            55.51688830221887
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1228.0,
+            472.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_0-33-6_505185185/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_0-33-6_505185185/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0b322676f269a2118298962ac59ccff530aaf8fe
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_0-33-6_505185185/pose.jsonl
@@ -0,0 +1,769 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1572.283513867337,
+            855.3440995177485,
+            56.00256829401575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1569.283513867337,
+            855.3440995177485,
+            56.00256829401575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1566.283513867337,
+            855.3440995177485,
+            56.00256829401575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1563.283513867337,
+            855.3440995177485,
+            56.00256829401575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1560.283513867337,
+            855.3440995177485,
+            56.00256829401575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1557.283513867337,
+            855.3440995177485,
+            56.00256829401575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1554.283513867337,
+            855.3440995177485,
+            56.00256829401575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1551.283513867337,
+            855.3440995177485,
+            56.00256829401575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1548.283513867337,
+            855.3440995177485,
+            56.00256829401575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1545.283513867337,
+            855.3440995177485,
+            56.00256829401575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1542.283513867337,
+            855.3440995177485,
+            56.00256829401575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1539.283513867337,
+            855.3440995177485,
+            56.00256829401575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1536.283513867337,
+            855.3440995177485,
+            56.00256829401575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1533.283513867337,
+            855.3440995177485,
+            56.00256829401575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1530.283513867337,
+            855.3440995177485,
+            56.00256829401575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1527.283513867337,
+            855.3440995177485,
+            56.00256829401575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1524.283513867337,
+            855.3440995177485,
+            56.00256829401575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1521.283513867337,
+            855.3440995177485,
+            56.00256829401575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1518.283513867337,
+            855.3440995177485,
+            56.00256829401575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1515.283513867337,
+            855.3440995177485,
+            56.00256829401575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1512.283513867337,
+            855.3440995177485,
+            56.00256829401575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1509.283513867337,
+            855.3440995177485,
+            56.00256829401575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1506.283513867337,
+            855.3440995177485,
+            56.00256829401575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1503.283513867337,
+            855.3440995177485,
+            56.00256829401575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1500.283513867337,
+            855.3440995177485,
+            56.00256829401575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1497.283513867337,
+            855.3440995177485,
+            56.00256829401575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1494.283513867337,
+            855.3440995177485,
+            56.00256829401575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1491.283513867337,
+            855.3440995177485,
+            56.00256829401575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1488.283513867337,
+            855.3440995177485,
+            56.00256829401575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1485.283513867337,
+            855.3440995177485,
+            56.00256829401575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1482.283513867337,
+            855.3440995177485,
+            56.00256829401575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1479.283513867337,
+            855.3440995177485,
+            56.00256829401575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1476.283513867337,
+            855.3440995177485,
+            56.00256829401575
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1476.283513867337,
+            855.3440995177485,
+            56.00256829401575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1473.6854376559836,
+            853.8440995177485,
+            56.00256829401575
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1473.6854376559836,
+            853.8440995177485,
+            56.00256829401575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1472.1854376559836,
+            851.2460233063953,
+            56.00256829401575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1470.6854376559836,
+            848.6479470950419,
+            56.00256829401575
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1470.6854376559836,
+            848.6479470950419,
+            56.00256829401575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1468.0873614446302,
+            847.1479470950419,
+            56.00256829401575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -1465.4892852332769,
+            845.6479470950419,
+            56.00256829401575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -1462.8912090219235,
+            844.1479470950419,
+            56.00256829401575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -1460.2931328105701,
+            842.6479470950419,
+            56.00256829401575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -1457.6950565992167,
+            841.1479470950419,
+            56.00256829401575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -1455.0969803878634,
+            839.6479470950419,
+            56.00256829401575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -1452.49890417651,
+            838.1479470950419,
+            56.00256829401575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -1449.9008279651566,
+            836.6479470950419,
+            56.00256829401575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -1447.3027517538032,
+            835.1479470950419,
+            56.00256829401575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -1444.7046755424499,
+            833.6479470950419,
+            56.00256829401575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -1442.1065993310965,
+            832.1479470950419,
+            56.00256829401575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -1439.5085231197431,
+            830.6479470950419,
+            56.00256829401575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -1436.9104469083898,
+            829.1479470950419,
+            56.00256829401575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -1434.3123706970364,
+            827.6479470950419,
+            56.00256829401575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -1431.714294485683,
+            826.1479470950419,
+            56.00256829401575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -1429.1162182743296,
+            824.6479470950419,
+            56.00256829401575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -1426.5181420629763,
+            823.1479470950419,
+            56.00256829401575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -1423.920065851623,
+            821.6479470950419,
+            56.00256829401575
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -1421.3219896402695,
+            820.1479470950419,
+            56.00256829401575
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1400.0,
+            812.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_1-0-24_1098193842/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_1-0-24_1098193842/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7eaf67bffaa2848587012716b9d2493f637b93d1
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_1-0-24_1098193842/pose.jsonl
@@ -0,0 +1,574 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -116.14171110170074,
+            502.77964189417276,
+            62.27107824996631
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -116.14171110170074,
+            505.77964189417276,
+            62.27107824996631
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -116.14171110170074,
+            508.77964189417276,
+            62.27107824996631
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -116.14171110170074,
+            511.77964189417276,
+            62.27107824996631
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -116.14171110170074,
+            514.7796418941728,
+            62.27107824996631
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -116.14171110170074,
+            517.7796418941728,
+            62.27107824996631
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -116.14171110170074,
+            520.7796418941728,
+            62.27107824996631
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -116.14171110170074,
+            523.7796418941728,
+            62.27107824996631
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -116.14171110170074,
+            526.7796418941728,
+            62.27107824996631
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -116.14171110170074,
+            529.7796418941728,
+            62.27107824996631
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -116.14171110170074,
+            532.7796418941728,
+            62.27107824996631
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -116.14171110170074,
+            535.7796418941728,
+            62.27107824996631
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -116.14171110170074,
+            538.7796418941728,
+            62.27107824996631
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -116.14171110170074,
+            541.7796418941728,
+            62.27107824996631
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -116.14171110170074,
+            544.7796418941728,
+            62.27107824996631
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -116.14171110170074,
+            547.7796418941728,
+            62.27107824996631
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -116.14171110170074,
+            550.7796418941728,
+            62.27107824996631
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -116.14171110170074,
+            553.7796418941728,
+            62.27107824996631
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -116.14171110170074,
+            556.7796418941728,
+            62.27107824996631
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -116.14171110170074,
+            559.7796418941728,
+            62.27107824996631
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -116.14171110170074,
+            562.7796418941728,
+            62.27107824996631
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -116.14171110170074,
+            565.7796418941728,
+            62.27107824996631
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -116.14171110170074,
+            568.7796418941728,
+            62.27107824996631
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -116.14171110170074,
+            571.7796418941728,
+            62.27107824996631
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -116.14171110170074,
+            574.7796418941728,
+            62.27107824996631
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -116.14171110170074,
+            577.7796418941728,
+            62.27107824996631
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -116.14171110170074,
+            580.7796418941728,
+            62.27107824996631
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -116.14171110170074,
+            583.7796418941728,
+            62.27107824996631
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -116.14171110170074,
+            586.7796418941728,
+            62.27107824996631
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -116.14171110170074,
+            589.7796418941728,
+            62.27107824996631
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -116.14171110170074,
+            592.7796418941728,
+            62.27107824996631
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -116.14171110170074,
+            595.7796418941728,
+            62.27107824996631
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -116.14171110170074,
+            598.7796418941728,
+            62.27107824996631
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -116.14171110170074,
+            598.7796418941728,
+            62.27107824996631
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -117.64171110170074,
+            601.3777181055261,
+            62.27107824996631
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -119.14171110170074,
+            603.9757943168795,
+            62.27107824996631
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -120.64171110170074,
+            606.5738705282329,
+            62.27107824996631
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -122.14171110170074,
+            609.1719467395862,
+            62.27107824996631
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -123.64171110170074,
+            611.7700229509396,
+            62.27107824996631
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -125.14171110170074,
+            614.368099162293,
+            62.27107824996631
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -126.64171110170074,
+            616.9661753736464,
+            62.27107824996631
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -128.14171110170074,
+            619.5642515849997,
+            62.27107824996631
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -129.64171110170074,
+            622.1623277963531,
+            62.27107824996631
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -136.0,
+            664.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_1-13-37_256363941/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_1-13-37_256363941/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d771b8af4a29147e4eb9d1a76d6ad2ab77d6f2e3
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_1-13-37_256363941/pose.jsonl
@@ -0,0 +1,353 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1129.135796024395,
+            1734.2309012975763,
+            44.30469182826744
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1130.635796024395,
+            1736.8289775089297,
+            44.30469182826744
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1132.135796024395,
+            1739.427053720283,
+            44.30469182826744
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1133.635796024395,
+            1742.0251299316365,
+            44.30469182826744
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1135.135796024395,
+            1744.6232061429898,
+            44.30469182826744
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1136.635796024395,
+            1747.2212823543432,
+            44.30469182826744
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1138.135796024395,
+            1749.8193585656966,
+            44.30469182826744
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1139.635796024395,
+            1752.41743477705,
+            44.30469182826744
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1141.135796024395,
+            1755.0155109884033,
+            44.30469182826744
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1142.635796024395,
+            1757.6135871997567,
+            44.30469182826744
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1144.135796024395,
+            1760.21166341111,
+            44.30469182826744
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1145.635796024395,
+            1762.8097396224634,
+            44.30469182826744
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1147.135796024395,
+            1765.4078158338168,
+            44.30469182826744
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1148.635796024395,
+            1768.0058920451702,
+            44.30469182826744
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1150.135796024395,
+            1770.6039682565236,
+            44.30469182826744
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1151.635796024395,
+            1773.202044467877,
+            44.30469182826744
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1153.135796024395,
+            1775.8001206792303,
+            44.30469182826744
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1154.635796024395,
+            1778.3981968905837,
+            44.30469182826744
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1154.635796024395,
+            1778.3981968905837,
+            44.30469182826744
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1154.635796024395,
+            1781.3981968905837,
+            44.30469182826744
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1154.635796024395,
+            1784.3981968905837,
+            44.30469182826744
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1154.635796024395,
+            1787.3981968905837,
+            44.30469182826744
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1154.635796024395,
+            1790.3981968905837,
+            44.30469182826744
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1154.635796024395,
+            1793.3981968905837,
+            44.30469182826744
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1154.635796024395,
+            1796.3981968905837,
+            44.30469182826744
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1154.635796024395,
+            1799.3981968905837,
+            44.30469182826744
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1188.0,
+            1876.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_1-17-24_386753870/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_1-17-24_386753870/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..154529f9c520c7af646403320c9f8ebe8fba4dbf
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_1-17-24_386753870/pose.jsonl
@@ -0,0 +1,652 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -138.4887582099539,
+            736.1055785386259,
+            62.96925601952524
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -136.9887582099539,
+            733.5075023272725,
+            62.96925601952524
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -135.4887582099539,
+            730.9094261159191,
+            62.96925601952524
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -133.9887582099539,
+            728.3113499045658,
+            62.96925601952524
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -132.4887582099539,
+            725.7132736932124,
+            62.96925601952524
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -130.9887582099539,
+            723.115197481859,
+            62.96925601952524
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -129.4887582099539,
+            720.5171212705056,
+            62.96925601952524
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -129.4887582099539,
+            720.5171212705056,
+            62.96925601952524
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -129.4887582099539,
+            717.5171212705056,
+            62.96925601952524
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -129.4887582099539,
+            714.5171212705056,
+            62.96925601952524
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -129.4887582099539,
+            711.5171212705056,
+            62.96925601952524
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -129.4887582099539,
+            708.5171212705056,
+            62.96925601952524
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -129.4887582099539,
+            705.5171212705056,
+            62.96925601952524
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -129.4887582099539,
+            702.5171212705056,
+            62.96925601952524
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -129.4887582099539,
+            699.5171212705056,
+            62.96925601952524
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -129.4887582099539,
+            696.5171212705056,
+            62.96925601952524
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -129.4887582099539,
+            693.5171212705056,
+            62.96925601952524
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -129.4887582099539,
+            690.5171212705056,
+            62.96925601952524
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -129.4887582099539,
+            687.5171212705056,
+            62.96925601952524
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -129.4887582099539,
+            684.5171212705056,
+            62.96925601952524
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -129.4887582099539,
+            681.5171212705056,
+            62.96925601952524
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -129.4887582099539,
+            678.5171212705056,
+            62.96925601952524
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -129.4887582099539,
+            675.5171212705056,
+            62.96925601952524
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -129.4887582099539,
+            672.5171212705056,
+            62.96925601952524
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -129.4887582099539,
+            669.5171212705056,
+            62.96925601952524
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -129.4887582099539,
+            666.5171212705056,
+            62.96925601952524
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -129.4887582099539,
+            663.5171212705056,
+            62.96925601952524
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -129.4887582099539,
+            660.5171212705056,
+            62.96925601952524
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -129.4887582099539,
+            660.5171212705056,
+            62.96925601952524
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -127.98875820995389,
+            657.9190450591523,
+            62.96925601952524
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -126.48875820995389,
+            655.3209688477989,
+            62.96925601952524
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -124.98875820995389,
+            652.7228926364455,
+            62.96925601952524
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -123.48875820995389,
+            650.1248164250921,
+            62.96925601952524
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -121.98875820995389,
+            647.5267402137388,
+            62.96925601952524
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -120.48875820995389,
+            644.9286640023854,
+            62.96925601952524
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -118.98875820995389,
+            642.330587791032,
+            62.96925601952524
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -117.48875820995389,
+            639.7325115796787,
+            62.96925601952524
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -115.98875820995389,
+            637.1344353683253,
+            62.96925601952524
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -114.48875820995389,
+            634.5363591569719,
+            62.96925601952524
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -112.98875820995389,
+            631.9382829456185,
+            62.96925601952524
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -111.48875820995389,
+            629.3402067342652,
+            62.96925601952524
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -109.98875820995389,
+            626.7421305229118,
+            62.96925601952524
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -108.48875820995389,
+            624.1440543115584,
+            62.96925601952524
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -106.98875820995389,
+            621.545978100205,
+            62.96925601952524
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -105.48875820995389,
+            618.9479018888517,
+            62.96925601952524
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -103.98875820995389,
+            616.3498256774983,
+            62.96925601952524
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -102.48875820995389,
+            613.7517494661449,
+            62.96925601952524
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -100.98875820995389,
+            611.1536732547916,
+            62.96925601952524
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -99.48875820995389,
+            608.5555970434382,
+            62.96925601952524
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -88.0,
+            572.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_1-28-43_1767110751/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_1-28-43_1767110751/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..85d8dcee6f9cee09b50347655d0d0b0a89eaae79
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_1-28-43_1767110751/pose.jsonl
@@ -0,0 +1,652 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1700.1831466185986,
+            -769.526520445715,
+            54.776531083299446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1700.1831466185986,
+            -772.526520445715,
+            54.776531083299446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1700.1831466185986,
+            -775.526520445715,
+            54.776531083299446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1700.1831466185986,
+            -778.526520445715,
+            54.776531083299446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1700.1831466185986,
+            -781.526520445715,
+            54.776531083299446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1700.1831466185986,
+            -784.526520445715,
+            54.776531083299446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1700.1831466185986,
+            -787.526520445715,
+            54.776531083299446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1700.1831466185986,
+            -790.526520445715,
+            54.776531083299446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1700.1831466185986,
+            -793.526520445715,
+            54.776531083299446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1700.1831466185986,
+            -796.526520445715,
+            54.776531083299446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1700.1831466185986,
+            -799.526520445715,
+            54.776531083299446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1700.1831466185986,
+            -802.526520445715,
+            54.776531083299446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1700.1831466185986,
+            -805.526520445715,
+            54.776531083299446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1700.1831466185986,
+            -808.526520445715,
+            54.776531083299446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1700.1831466185986,
+            -811.526520445715,
+            54.776531083299446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1700.1831466185986,
+            -814.526520445715,
+            54.776531083299446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1700.1831466185986,
+            -817.526520445715,
+            54.776531083299446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1700.1831466185986,
+            -820.526520445715,
+            54.776531083299446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1700.1831466185986,
+            -823.526520445715,
+            54.776531083299446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1700.1831466185986,
+            -826.526520445715,
+            54.776531083299446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1700.1831466185986,
+            -829.526520445715,
+            54.776531083299446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1700.1831466185986,
+            -832.526520445715,
+            54.776531083299446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1700.1831466185986,
+            -835.526520445715,
+            54.776531083299446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1700.1831466185986,
+            -838.526520445715,
+            54.776531083299446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1700.1831466185986,
+            -841.526520445715,
+            54.776531083299446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1700.1831466185986,
+            -844.526520445715,
+            54.776531083299446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1700.1831466185986,
+            -847.526520445715,
+            54.776531083299446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1700.1831466185986,
+            -850.526520445715,
+            54.776531083299446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1700.1831466185986,
+            -853.526520445715,
+            54.776531083299446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1700.1831466185986,
+            -856.526520445715,
+            54.776531083299446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1700.1831466185986,
+            -859.526520445715,
+            54.776531083299446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1700.1831466185986,
+            -862.526520445715,
+            54.776531083299446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1700.1831466185986,
+            -865.526520445715,
+            54.776531083299446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1700.1831466185986,
+            -868.526520445715,
+            54.776531083299446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1700.1831466185986,
+            -871.526520445715,
+            54.776531083299446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1700.1831466185986,
+            -874.526520445715,
+            54.776531083299446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1700.1831466185986,
+            -877.526520445715,
+            54.776531083299446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1700.1831466185986,
+            -880.526520445715,
+            54.776531083299446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1700.1831466185986,
+            -883.526520445715,
+            54.776531083299446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1700.1831466185986,
+            -886.526520445715,
+            54.776531083299446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -1700.1831466185986,
+            -889.526520445715,
+            54.776531083299446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -1700.1831466185986,
+            -892.526520445715,
+            54.776531083299446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -1700.1831466185986,
+            -895.526520445715,
+            54.776531083299446
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -1700.1831466185986,
+            -895.526520445715,
+            54.776531083299446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -1701.6831466185986,
+            -898.1245966570684,
+            54.776531083299446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -1703.1831466185986,
+            -900.7226728684218,
+            54.776531083299446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -1704.6831466185986,
+            -903.3207490797752,
+            54.776531083299446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -1706.1831466185986,
+            -905.9188252911285,
+            54.776531083299446
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -1707.6831466185986,
+            -908.5169015024819,
+            54.776531083299446
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1708.0,
+            -936.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_1-48-48_2108785490/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_1-48-48_2108785490/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bee9f7ab1a04eb033a32ee9de634bb80b2095495
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_1-48-48_2108785490/pose.jsonl
@@ -0,0 +1,691 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1643.2599586705471,
+            638.0298428342877,
+            46.40223118769652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1644.7599586705471,
+            640.627919045641,
+            46.40223118769652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1646.2599586705471,
+            643.2259952569943,
+            46.40223118769652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1647.7599586705471,
+            645.8240714683477,
+            46.40223118769652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1649.2599586705471,
+            648.4221476797011,
+            46.40223118769652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1650.7599586705471,
+            651.0202238910545,
+            46.40223118769652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1652.2599586705471,
+            653.6183001024078,
+            46.40223118769652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1653.7599586705471,
+            656.2163763137612,
+            46.40223118769652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1655.2599586705471,
+            658.8144525251146,
+            46.40223118769652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1656.7599586705471,
+            661.412528736468,
+            46.40223118769652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1658.2599586705471,
+            664.0106049478213,
+            46.40223118769652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1659.7599586705471,
+            666.6086811591747,
+            46.40223118769652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1661.2599586705471,
+            669.2067573705281,
+            46.40223118769652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1662.7599586705471,
+            671.8048335818814,
+            46.40223118769652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1664.2599586705471,
+            674.4029097932348,
+            46.40223118769652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1665.7599586705471,
+            677.0009860045882,
+            46.40223118769652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1667.2599586705471,
+            679.5990622159416,
+            46.40223118769652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1668.7599586705471,
+            682.1971384272949,
+            46.40223118769652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1670.2599586705471,
+            684.7952146386483,
+            46.40223118769652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1671.7599586705471,
+            687.3932908500017,
+            46.40223118769652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1673.2599586705471,
+            689.991367061355,
+            46.40223118769652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1674.7599586705471,
+            692.5894432727084,
+            46.40223118769652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1676.2599586705471,
+            695.1875194840618,
+            46.40223118769652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1677.7599586705471,
+            697.7855956954152,
+            46.40223118769652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1679.2599586705471,
+            700.3836719067685,
+            46.40223118769652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1680.7599586705471,
+            702.9817481181219,
+            46.40223118769652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1682.2599586705471,
+            705.5798243294753,
+            46.40223118769652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1683.7599586705471,
+            708.1779005408287,
+            46.40223118769652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1685.2599586705471,
+            710.775976752182,
+            46.40223118769652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1686.7599586705471,
+            713.3740529635354,
+            46.40223118769652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1688.2599586705471,
+            715.9721291748888,
+            46.40223118769652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1689.7599586705471,
+            718.5702053862422,
+            46.40223118769652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1691.2599586705471,
+            721.1682815975955,
+            46.40223118769652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1692.7599586705471,
+            723.7663578089489,
+            46.40223118769652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1694.2599586705471,
+            726.3644340203023,
+            46.40223118769652
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1694.2599586705471,
+            726.3644340203023,
+            46.40223118769652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1696.8580348819005,
+            727.8644340203023,
+            46.40223118769652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1699.4561110932539,
+            729.3644340203023,
+            46.40223118769652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1702.0541873046072,
+            730.8644340203023,
+            46.40223118769652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1704.6522635159606,
+            732.3644340203023,
+            46.40223118769652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1707.250339727314,
+            733.8644340203023,
+            46.40223118769652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1709.8484159386674,
+            735.3644340203023,
+            46.40223118769652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1712.4464921500207,
+            736.8644340203023,
+            46.40223118769652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1715.044568361374,
+            738.3644340203023,
+            46.40223118769652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1717.6426445727275,
+            739.8644340203023,
+            46.40223118769652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1720.2407207840808,
+            741.3644340203023,
+            46.40223118769652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1722.8387969954342,
+            742.8644340203023,
+            46.40223118769652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1725.4368732067876,
+            744.3644340203023,
+            46.40223118769652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1728.034949418141,
+            745.8644340203023,
+            46.40223118769652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1730.6330256294943,
+            747.3644340203023,
+            46.40223118769652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            1733.2311018408477,
+            748.8644340203023,
+            46.40223118769652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            1735.829178052201,
+            750.3644340203023,
+            46.40223118769652
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1756.0,
+            776.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_1-49-17_96617457/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_1-49-17_96617457/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0a1208fd19d50c8122fe727c03efeb6063578c80
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_1-49-17_96617457/pose.jsonl
@@ -0,0 +1,223 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            85.80058249927964,
+            263.7930824347708,
+            57.0614673045437
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            88.39865871063296,
+            262.2930824347708,
+            57.0614673045437
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            90.99673492198627,
+            260.7930824347708,
+            57.0614673045437
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            93.59481113333959,
+            259.2930824347708,
+            57.0614673045437
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            96.1928873446929,
+            257.7930824347708,
+            57.0614673045437
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            98.79096355604622,
+            256.2930824347708,
+            57.0614673045437
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            101.38903976739954,
+            254.79308243477078,
+            57.0614673045437
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            103.98711597875285,
+            253.29308243477078,
+            57.0614673045437
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            106.58519219010617,
+            251.79308243477078,
+            57.0614673045437
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            109.18326840145949,
+            250.29308243477078,
+            57.0614673045437
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            111.7813446128128,
+            248.79308243477078,
+            57.0614673045437
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            114.37942082416612,
+            247.29308243477078,
+            57.0614673045437
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            116.97749703551943,
+            245.79308243477078,
+            57.0614673045437
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            119.57557324687275,
+            244.29308243477078,
+            57.0614673045437
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            122.17364945822607,
+            242.79308243477078,
+            57.0614673045437
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            124.77172566957938,
+            241.29308243477078,
+            57.0614673045437
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            228.0,
+            180.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_10-26-55_375487534/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_10-26-55_375487534/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8fd80bbd4d5a2a6ad8eb550721ba52887318edef
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_10-26-55_375487534/pose.jsonl
@@ -0,0 +1,691 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            701.9839082819223,
+            -1763.3294184001354,
+            59.180626782591645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            704.9839082819223,
+            -1763.3294184001354,
+            59.180626782591645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            707.9839082819223,
+            -1763.3294184001354,
+            59.180626782591645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            710.9839082819223,
+            -1763.3294184001354,
+            59.180626782591645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            713.9839082819223,
+            -1763.3294184001354,
+            59.180626782591645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            716.9839082819223,
+            -1763.3294184001354,
+            59.180626782591645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            719.9839082819223,
+            -1763.3294184001354,
+            59.180626782591645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            722.9839082819223,
+            -1763.3294184001354,
+            59.180626782591645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            725.9839082819223,
+            -1763.3294184001354,
+            59.180626782591645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            728.9839082819223,
+            -1763.3294184001354,
+            59.180626782591645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            731.9839082819223,
+            -1763.3294184001354,
+            59.180626782591645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            734.9839082819223,
+            -1763.3294184001354,
+            59.180626782591645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            737.9839082819223,
+            -1763.3294184001354,
+            59.180626782591645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            740.9839082819223,
+            -1763.3294184001354,
+            59.180626782591645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            743.9839082819223,
+            -1763.3294184001354,
+            59.180626782591645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            746.9839082819223,
+            -1763.3294184001354,
+            59.180626782591645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            749.9839082819223,
+            -1763.3294184001354,
+            59.180626782591645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            752.9839082819223,
+            -1763.3294184001354,
+            59.180626782591645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            755.9839082819223,
+            -1763.3294184001354,
+            59.180626782591645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            758.9839082819223,
+            -1763.3294184001354,
+            59.180626782591645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            761.9839082819223,
+            -1763.3294184001354,
+            59.180626782591645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            764.9839082819223,
+            -1763.3294184001354,
+            59.180626782591645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            767.9839082819223,
+            -1763.3294184001354,
+            59.180626782591645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            770.9839082819223,
+            -1763.3294184001354,
+            59.180626782591645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            773.9839082819223,
+            -1763.3294184001354,
+            59.180626782591645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            776.9839082819223,
+            -1763.3294184001354,
+            59.180626782591645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            779.9839082819223,
+            -1763.3294184001354,
+            59.180626782591645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            782.9839082819223,
+            -1763.3294184001354,
+            59.180626782591645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            785.9839082819223,
+            -1763.3294184001354,
+            59.180626782591645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            788.9839082819223,
+            -1763.3294184001354,
+            59.180626782591645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            791.9839082819223,
+            -1763.3294184001354,
+            59.180626782591645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            794.9839082819223,
+            -1763.3294184001354,
+            59.180626782591645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            797.9839082819223,
+            -1763.3294184001354,
+            59.180626782591645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            800.9839082819223,
+            -1763.3294184001354,
+            59.180626782591645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            803.9839082819223,
+            -1763.3294184001354,
+            59.180626782591645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            806.9839082819223,
+            -1763.3294184001354,
+            59.180626782591645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            809.9839082819223,
+            -1763.3294184001354,
+            59.180626782591645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            812.9839082819223,
+            -1763.3294184001354,
+            59.180626782591645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            815.9839082819223,
+            -1763.3294184001354,
+            59.180626782591645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            818.9839082819223,
+            -1763.3294184001354,
+            59.180626782591645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            821.9839082819223,
+            -1763.3294184001354,
+            59.180626782591645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            824.9839082819223,
+            -1763.3294184001354,
+            59.180626782591645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            827.9839082819223,
+            -1763.3294184001354,
+            59.180626782591645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            830.9839082819223,
+            -1763.3294184001354,
+            59.180626782591645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            833.9839082819223,
+            -1763.3294184001354,
+            59.180626782591645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            836.9839082819223,
+            -1763.3294184001354,
+            59.180626782591645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            839.9839082819223,
+            -1763.3294184001354,
+            59.180626782591645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            842.9839082819223,
+            -1763.3294184001354,
+            59.180626782591645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            845.9839082819223,
+            -1763.3294184001354,
+            59.180626782591645
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            845.9839082819223,
+            -1763.3294184001354,
+            59.180626782591645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            848.5819844932755,
+            -1764.8294184001354,
+            59.180626782591645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            851.1800607046289,
+            -1766.3294184001354,
+            59.180626782591645
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            868.0,
+            -1768.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_10-3-20_20084148/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_10-3-20_20084148/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b37d75e7eb2e2051e964fa5d2bf33f70f2591b4b
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_10-3-20_20084148/pose.jsonl
@@ -0,0 +1,652 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            377.53053822798995,
+            272.47390960856353,
+            62.863147833263426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            374.93246201663663,
+            270.97390960856353,
+            62.863147833263426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            372.3343858052833,
+            269.47390960856353,
+            62.863147833263426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            369.73630959393,
+            267.97390960856353,
+            62.863147833263426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            367.1382333825767,
+            266.47390960856353,
+            62.863147833263426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            364.54015717122337,
+            264.97390960856353,
+            62.863147833263426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            361.94208095987005,
+            263.47390960856353,
+            62.863147833263426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            359.34400474851674,
+            261.97390960856353,
+            62.863147833263426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            356.7459285371634,
+            260.47390960856353,
+            62.863147833263426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            354.1478523258101,
+            258.97390960856353,
+            62.863147833263426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            351.5497761144568,
+            257.47390960856353,
+            62.863147833263426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            348.9516999031035,
+            255.97390960856353,
+            62.863147833263426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            346.35362369175016,
+            254.47390960856353,
+            62.863147833263426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            343.75554748039684,
+            252.97390960856353,
+            62.863147833263426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            341.1574712690435,
+            251.47390960856353,
+            62.863147833263426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            338.5593950576902,
+            249.97390960856353,
+            62.863147833263426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            335.9613188463369,
+            248.47390960856353,
+            62.863147833263426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            333.3632426349836,
+            246.97390960856353,
+            62.863147833263426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            330.76516642363026,
+            245.47390960856353,
+            62.863147833263426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            328.16709021227695,
+            243.97390960856353,
+            62.863147833263426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            325.56901400092363,
+            242.47390960856353,
+            62.863147833263426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            322.9709377895703,
+            240.97390960856353,
+            62.863147833263426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            320.372861578217,
+            239.47390960856353,
+            62.863147833263426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            317.7747853668637,
+            237.97390960856353,
+            62.863147833263426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            315.17670915551037,
+            236.47390960856353,
+            62.863147833263426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            312.57863294415705,
+            234.97390960856353,
+            62.863147833263426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            309.98055673280373,
+            233.47390960856353,
+            62.863147833263426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            307.3824805214504,
+            231.97390960856353,
+            62.863147833263426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            304.7844043100971,
+            230.47390960856353,
+            62.863147833263426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            302.1863280987438,
+            228.97390960856353,
+            62.863147833263426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            299.58825188739047,
+            227.47390960856353,
+            62.863147833263426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            296.99017567603715,
+            225.97390960856353,
+            62.863147833263426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            294.39209946468384,
+            224.47390960856353,
+            62.863147833263426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            291.7940232533305,
+            222.97390960856353,
+            62.863147833263426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            289.1959470419772,
+            221.47390960856353,
+            62.863147833263426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            286.5978708306239,
+            219.97390960856353,
+            62.863147833263426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            283.9997946192706,
+            218.47390960856353,
+            62.863147833263426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            281.40171840791726,
+            216.97390960856353,
+            62.863147833263426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            278.80364219656394,
+            215.47390960856353,
+            62.863147833263426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            276.2055659852106,
+            213.97390960856353,
+            62.863147833263426
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            276.2055659852106,
+            213.97390960856353,
+            62.863147833263426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            273.2055659852106,
+            213.97390960856353,
+            62.863147833263426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            270.2055659852106,
+            213.97390960856353,
+            62.863147833263426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            267.2055659852106,
+            213.97390960856353,
+            62.863147833263426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            264.2055659852106,
+            213.97390960856353,
+            62.863147833263426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            261.2055659852106,
+            213.97390960856353,
+            62.863147833263426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            258.2055659852106,
+            213.97390960856353,
+            62.863147833263426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            255.20556598521063,
+            213.97390960856353,
+            62.863147833263426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            252.20556598521063,
+            213.97390960856353,
+            62.863147833263426
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            216.0,
+            196.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_10-52-0_2024516898/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_10-52-0_2024516898/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d7760cf63bd982998cc98fac41d4af838ad5224a
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_10-52-0_2024516898/pose.jsonl
@@ -0,0 +1,626 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            545.086811780999,
+            1627.5417586038802,
+            44.3103720926849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            546.586811780999,
+            1630.1398348152336,
+            44.3103720926849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            548.086811780999,
+            1632.737911026587,
+            44.3103720926849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            549.586811780999,
+            1635.3359872379403,
+            44.3103720926849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            551.086811780999,
+            1637.9340634492937,
+            44.3103720926849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            552.586811780999,
+            1640.532139660647,
+            44.3103720926849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            554.086811780999,
+            1643.1302158720005,
+            44.3103720926849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            555.586811780999,
+            1645.7282920833538,
+            44.3103720926849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            557.086811780999,
+            1648.3263682947072,
+            44.3103720926849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            558.586811780999,
+            1650.9244445060606,
+            44.3103720926849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            560.086811780999,
+            1653.522520717414,
+            44.3103720926849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            561.586811780999,
+            1656.1205969287673,
+            44.3103720926849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            563.086811780999,
+            1658.7186731401207,
+            44.3103720926849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            564.586811780999,
+            1661.316749351474,
+            44.3103720926849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            566.086811780999,
+            1663.9148255628274,
+            44.3103720926849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            567.586811780999,
+            1666.5129017741808,
+            44.3103720926849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            569.086811780999,
+            1669.1109779855342,
+            44.3103720926849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            570.586811780999,
+            1671.7090541968876,
+            44.3103720926849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            572.086811780999,
+            1674.307130408241,
+            44.3103720926849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            573.586811780999,
+            1676.9052066195943,
+            44.3103720926849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            575.086811780999,
+            1679.5032828309477,
+            44.3103720926849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            576.586811780999,
+            1682.101359042301,
+            44.3103720926849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            578.086811780999,
+            1684.6994352536544,
+            44.3103720926849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            579.586811780999,
+            1687.2975114650078,
+            44.3103720926849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            581.086811780999,
+            1689.8955876763612,
+            44.3103720926849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            582.586811780999,
+            1692.4936638877145,
+            44.3103720926849
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            582.586811780999,
+            1692.4936638877145,
+            44.3103720926849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            582.586811780999,
+            1695.4936638877145,
+            44.3103720926849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            582.586811780999,
+            1698.4936638877145,
+            44.3103720926849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            582.586811780999,
+            1701.4936638877145,
+            44.3103720926849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            582.586811780999,
+            1704.4936638877145,
+            44.3103720926849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            582.586811780999,
+            1707.4936638877145,
+            44.3103720926849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            582.586811780999,
+            1710.4936638877145,
+            44.3103720926849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            582.586811780999,
+            1713.4936638877145,
+            44.3103720926849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            582.586811780999,
+            1716.4936638877145,
+            44.3103720926849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            582.586811780999,
+            1719.4936638877145,
+            44.3103720926849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            582.586811780999,
+            1722.4936638877145,
+            44.3103720926849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            582.586811780999,
+            1725.4936638877145,
+            44.3103720926849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            582.586811780999,
+            1728.4936638877145,
+            44.3103720926849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            582.586811780999,
+            1731.4936638877145,
+            44.3103720926849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            582.586811780999,
+            1734.4936638877145,
+            44.3103720926849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            582.586811780999,
+            1737.4936638877145,
+            44.3103720926849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            582.586811780999,
+            1740.4936638877145,
+            44.3103720926849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            582.586811780999,
+            1743.4936638877145,
+            44.3103720926849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            582.586811780999,
+            1746.4936638877145,
+            44.3103720926849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            582.586811780999,
+            1749.4936638877145,
+            44.3103720926849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            582.586811780999,
+            1752.4936638877145,
+            44.3103720926849
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            592.0,
+            1780.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_11-58-30_54350259/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_11-58-30_54350259/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..665a0760d7f7affc6d2bd67d75760455bd6ca702
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_11-58-30_54350259/pose.jsonl
@@ -0,0 +1,769 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1539.3570396016614,
+            654.1944213812927,
+            57.10492514620934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1542.3570396016614,
+            654.1944213812927,
+            57.10492514620934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1545.3570396016614,
+            654.1944213812927,
+            57.10492514620934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1548.3570396016614,
+            654.1944213812927,
+            57.10492514620934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1551.3570396016614,
+            654.1944213812927,
+            57.10492514620934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1554.3570396016614,
+            654.1944213812927,
+            57.10492514620934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1557.3570396016614,
+            654.1944213812927,
+            57.10492514620934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1560.3570396016614,
+            654.1944213812927,
+            57.10492514620934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1563.3570396016614,
+            654.1944213812927,
+            57.10492514620934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1566.3570396016614,
+            654.1944213812927,
+            57.10492514620934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1569.3570396016614,
+            654.1944213812927,
+            57.10492514620934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1572.3570396016614,
+            654.1944213812927,
+            57.10492514620934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1575.3570396016614,
+            654.1944213812927,
+            57.10492514620934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1578.3570396016614,
+            654.1944213812927,
+            57.10492514620934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1581.3570396016614,
+            654.1944213812927,
+            57.10492514620934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1584.3570396016614,
+            654.1944213812927,
+            57.10492514620934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1587.3570396016614,
+            654.1944213812927,
+            57.10492514620934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1590.3570396016614,
+            654.1944213812927,
+            57.10492514620934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1593.3570396016614,
+            654.1944213812927,
+            57.10492514620934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1596.3570396016614,
+            654.1944213812927,
+            57.10492514620934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1599.3570396016614,
+            654.1944213812927,
+            57.10492514620934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1602.3570396016614,
+            654.1944213812927,
+            57.10492514620934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1605.3570396016614,
+            654.1944213812927,
+            57.10492514620934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1608.3570396016614,
+            654.1944213812927,
+            57.10492514620934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1611.3570396016614,
+            654.1944213812927,
+            57.10492514620934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1614.3570396016614,
+            654.1944213812927,
+            57.10492514620934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1617.3570396016614,
+            654.1944213812927,
+            57.10492514620934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1620.3570396016614,
+            654.1944213812927,
+            57.10492514620934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1623.3570396016614,
+            654.1944213812927,
+            57.10492514620934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1626.3570396016614,
+            654.1944213812927,
+            57.10492514620934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1629.3570396016614,
+            654.1944213812927,
+            57.10492514620934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1632.3570396016614,
+            654.1944213812927,
+            57.10492514620934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1635.3570396016614,
+            654.1944213812927,
+            57.10492514620934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1638.3570396016614,
+            654.1944213812927,
+            57.10492514620934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1641.3570396016614,
+            654.1944213812927,
+            57.10492514620934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1644.3570396016614,
+            654.1944213812927,
+            57.10492514620934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1647.3570396016614,
+            654.1944213812927,
+            57.10492514620934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1650.3570396016614,
+            654.1944213812927,
+            57.10492514620934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1653.3570396016614,
+            654.1944213812927,
+            57.10492514620934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1656.3570396016614,
+            654.1944213812927,
+            57.10492514620934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -1659.3570396016614,
+            654.1944213812927,
+            57.10492514620934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -1662.3570396016614,
+            654.1944213812927,
+            57.10492514620934
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -1662.3570396016614,
+            654.1944213812927,
+            57.10492514620934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -1664.9551158130148,
+            655.6944213812927,
+            57.10492514620934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -1667.5531920243682,
+            657.1944213812927,
+            57.10492514620934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -1670.1512682357215,
+            658.6944213812927,
+            57.10492514620934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -1672.749344447075,
+            660.1944213812927,
+            57.10492514620934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -1675.3474206584283,
+            661.6944213812927,
+            57.10492514620934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -1677.9454968697817,
+            663.1944213812927,
+            57.10492514620934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -1680.543573081135,
+            664.6944213812927,
+            57.10492514620934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -1683.1416492924884,
+            666.1944213812927,
+            57.10492514620934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -1685.7397255038418,
+            667.6944213812927,
+            57.10492514620934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -1688.3378017151952,
+            669.1944213812927,
+            57.10492514620934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -1690.9358779265485,
+            670.6944213812927,
+            57.10492514620934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -1693.533954137902,
+            672.1944213812927,
+            57.10492514620934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -1696.1320303492553,
+            673.6944213812927,
+            57.10492514620934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -1698.7301065606086,
+            675.1944213812927,
+            57.10492514620934
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -1701.328182771962,
+            676.6944213812927,
+            57.10492514620934
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1704.0,
+            676.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_11-6-2_2105342203/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_11-6-2_2105342203/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d27bec4d6663c7a1c7a16eb16f3c3e042aa09c62
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_11-6-2_2105342203/pose.jsonl
@@ -0,0 +1,483 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1650.1483846298966,
+            507.7626814922065,
+            61.22636597431466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1648.6483846298966,
+            505.1646052808532,
+            61.22636597431466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1647.1483846298966,
+            502.5665290694999,
+            61.22636597431466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1645.6483846298966,
+            499.9684528581466,
+            61.22636597431466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1644.1483846298966,
+            497.37037664679326,
+            61.22636597431466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1642.6483846298966,
+            494.77230043543994,
+            61.22636597431466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1641.1483846298966,
+            492.17422422408663,
+            61.22636597431466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1639.6483846298966,
+            489.5761480127333,
+            61.22636597431466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1638.1483846298966,
+            486.97807180138,
+            61.22636597431466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1636.6483846298966,
+            484.3799955900267,
+            61.22636597431466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1635.1483846298966,
+            481.78191937867336,
+            61.22636597431466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1633.6483846298966,
+            479.18384316732005,
+            61.22636597431466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1632.1483846298966,
+            476.58576695596673,
+            61.22636597431466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1630.6483846298966,
+            473.9876907446134,
+            61.22636597431466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1629.1483846298966,
+            471.3896145332601,
+            61.22636597431466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1627.6483846298966,
+            468.7915383219068,
+            61.22636597431466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1626.1483846298966,
+            466.19346211055347,
+            61.22636597431466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1624.6483846298966,
+            463.59538589920015,
+            61.22636597431466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1623.1483846298966,
+            460.99730968784684,
+            61.22636597431466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1621.6483846298966,
+            458.3992334764935,
+            61.22636597431466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1620.1483846298966,
+            455.8011572651402,
+            61.22636597431466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1618.6483846298966,
+            453.2030810537869,
+            61.22636597431466
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1618.6483846298966,
+            453.2030810537869,
+            61.22636597431466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1618.6483846298966,
+            450.2030810537869,
+            61.22636597431466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1618.6483846298966,
+            447.2030810537869,
+            61.22636597431466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1618.6483846298966,
+            444.2030810537869,
+            61.22636597431466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1618.6483846298966,
+            441.2030810537869,
+            61.22636597431466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1618.6483846298966,
+            438.2030810537869,
+            61.22636597431466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1618.6483846298966,
+            435.2030810537869,
+            61.22636597431466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1618.6483846298966,
+            432.2030810537869,
+            61.22636597431466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1618.6483846298966,
+            429.2030810537869,
+            61.22636597431466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1618.6483846298966,
+            426.2030810537869,
+            61.22636597431466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1618.6483846298966,
+            423.2030810537869,
+            61.22636597431466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1618.6483846298966,
+            420.2030810537869,
+            61.22636597431466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1618.6483846298966,
+            417.2030810537869,
+            61.22636597431466
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1618.6483846298966,
+            414.2030810537869,
+            61.22636597431466
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1600.0,
+            360.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_12-11-53_1324901554/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_12-11-53_1324901554/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b871d691e10678798f7a0427c1961db966647f02
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_12-11-53_1324901554/pose.jsonl
@@ -0,0 +1,262 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1232.5352246731109,
+            153.2150182561367,
+            56.493094130490796
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1235.5352246731109,
+            153.2150182561367,
+            56.493094130490796
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1238.5352246731109,
+            153.2150182561367,
+            56.493094130490796
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1241.5352246731109,
+            153.2150182561367,
+            56.493094130490796
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1244.5352246731109,
+            153.2150182561367,
+            56.493094130490796
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1247.5352246731109,
+            153.2150182561367,
+            56.493094130490796
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1250.5352246731109,
+            153.2150182561367,
+            56.493094130490796
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1253.5352246731109,
+            153.2150182561367,
+            56.493094130490796
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1256.5352246731109,
+            153.2150182561367,
+            56.493094130490796
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1259.5352246731109,
+            153.2150182561367,
+            56.493094130490796
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1262.5352246731109,
+            153.2150182561367,
+            56.493094130490796
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1262.5352246731109,
+            153.2150182561367,
+            56.493094130490796
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1265.1333008844642,
+            154.7150182561367,
+            56.493094130490796
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1267.7313770958176,
+            156.2150182561367,
+            56.493094130490796
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1270.329453307171,
+            157.7150182561367,
+            56.493094130490796
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1272.9275295185244,
+            159.2150182561367,
+            56.493094130490796
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1275.5256057298777,
+            160.7150182561367,
+            56.493094130490796
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1278.123681941231,
+            162.2150182561367,
+            56.493094130490796
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1280.7217581525845,
+            163.7150182561367,
+            56.493094130490796
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1408.0,
+            192.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_12-19-54_1780238390/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_12-19-54_1780238390/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..64b524cbe340e120e204f76d74e0c9e48905d2ba
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_12-19-54_1780238390/pose.jsonl
@@ -0,0 +1,54 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1770.551122007032,
+            -321.1983034915296,
+            53.22748624474834
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1773.551122007032,
+            -321.1983034915296,
+            53.22748624474834
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1776.551122007032,
+            -321.1983034915296,
+            53.22748624474834
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1936.0,
+            -272.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_12-26-27_248185889/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_12-26-27_248185889/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bd22baecd876e9ac5af951335af5466d94b2878e
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_12-26-27_248185889/pose.jsonl
@@ -0,0 +1,574 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            525.4797428179843,
+            -1034.3872305779907,
+            50.78662404840194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            528.4797428179843,
+            -1034.3872305779907,
+            50.78662404840194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            531.4797428179843,
+            -1034.3872305779907,
+            50.78662404840194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            534.4797428179843,
+            -1034.3872305779907,
+            50.78662404840194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            537.4797428179843,
+            -1034.3872305779907,
+            50.78662404840194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            540.4797428179843,
+            -1034.3872305779907,
+            50.78662404840194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            543.4797428179843,
+            -1034.3872305779907,
+            50.78662404840194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            546.4797428179843,
+            -1034.3872305779907,
+            50.78662404840194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            549.4797428179843,
+            -1034.3872305779907,
+            50.78662404840194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            552.4797428179843,
+            -1034.3872305779907,
+            50.78662404840194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            555.4797428179843,
+            -1034.3872305779907,
+            50.78662404840194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            558.4797428179843,
+            -1034.3872305779907,
+            50.78662404840194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            561.4797428179843,
+            -1034.3872305779907,
+            50.78662404840194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            564.4797428179843,
+            -1034.3872305779907,
+            50.78662404840194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            567.4797428179843,
+            -1034.3872305779907,
+            50.78662404840194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            570.4797428179843,
+            -1034.3872305779907,
+            50.78662404840194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            573.4797428179843,
+            -1034.3872305779907,
+            50.78662404840194
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            573.4797428179843,
+            -1034.3872305779907,
+            50.78662404840194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            576.0778190293377,
+            -1035.8872305779907,
+            50.78662404840194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            578.675895240691,
+            -1037.3872305779907,
+            50.78662404840194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            581.2739714520444,
+            -1038.8872305779907,
+            50.78662404840194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            583.8720476633978,
+            -1040.3872305779907,
+            50.78662404840194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            586.4701238747512,
+            -1041.8872305779907,
+            50.78662404840194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            589.0682000861045,
+            -1043.3872305779907,
+            50.78662404840194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            591.6662762974579,
+            -1044.8872305779907,
+            50.78662404840194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            594.2643525088113,
+            -1046.3872305779907,
+            50.78662404840194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            596.8624287201646,
+            -1047.8872305779907,
+            50.78662404840194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            599.460504931518,
+            -1049.3872305779907,
+            50.78662404840194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            602.0585811428714,
+            -1050.8872305779907,
+            50.78662404840194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            604.6566573542248,
+            -1052.3872305779907,
+            50.78662404840194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            607.2547335655781,
+            -1053.8872305779907,
+            50.78662404840194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            609.8528097769315,
+            -1055.3872305779907,
+            50.78662404840194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            612.4508859882849,
+            -1056.8872305779907,
+            50.78662404840194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            615.0489621996383,
+            -1058.3872305779907,
+            50.78662404840194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            617.6470384109916,
+            -1059.8872305779907,
+            50.78662404840194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            620.245114622345,
+            -1061.3872305779907,
+            50.78662404840194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            622.8431908336984,
+            -1062.8872305779907,
+            50.78662404840194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            625.4412670450517,
+            -1064.3872305779907,
+            50.78662404840194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            628.0393432564051,
+            -1065.8872305779907,
+            50.78662404840194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            630.6374194677585,
+            -1067.3872305779907,
+            50.78662404840194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            633.2354956791119,
+            -1068.8872305779907,
+            50.78662404840194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            635.8335718904652,
+            -1070.3872305779907,
+            50.78662404840194
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            638.4316481018186,
+            -1071.8872305779907,
+            50.78662404840194
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            684.0,
+            -1088.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_13-10-55_181010038/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_13-10-55_181010038/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2cc54fee602a1ec4c4c30d6f2f221aa485dbe409
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_13-10-55_181010038/pose.jsonl
@@ -0,0 +1,561 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1652.6673778614131,
+            -47.08650489669435,
+            51.202642169490495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1655.6673778614131,
+            -47.08650489669435,
+            51.202642169490495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1658.6673778614131,
+            -47.08650489669435,
+            51.202642169490495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1661.6673778614131,
+            -47.08650489669435,
+            51.202642169490495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1664.6673778614131,
+            -47.08650489669435,
+            51.202642169490495
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1664.6673778614131,
+            -47.08650489669435,
+            51.202642169490495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1667.2654540727665,
+            -48.58650489669435,
+            51.202642169490495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1669.8635302841199,
+            -50.08650489669435,
+            51.202642169490495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1672.4616064954732,
+            -51.58650489669435,
+            51.202642169490495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1675.0596827068266,
+            -53.08650489669435,
+            51.202642169490495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1677.65775891818,
+            -54.58650489669435,
+            51.202642169490495
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1677.65775891818,
+            -54.58650489669435,
+            51.202642169490495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1680.65775891818,
+            -54.58650489669435,
+            51.202642169490495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1683.65775891818,
+            -54.58650489669435,
+            51.202642169490495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1686.65775891818,
+            -54.58650489669435,
+            51.202642169490495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1689.65775891818,
+            -54.58650489669435,
+            51.202642169490495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1692.65775891818,
+            -54.58650489669435,
+            51.202642169490495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1695.65775891818,
+            -54.58650489669435,
+            51.202642169490495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1698.65775891818,
+            -54.58650489669435,
+            51.202642169490495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1701.65775891818,
+            -54.58650489669435,
+            51.202642169490495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1704.65775891818,
+            -54.58650489669435,
+            51.202642169490495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1707.65775891818,
+            -54.58650489669435,
+            51.202642169490495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1710.65775891818,
+            -54.58650489669435,
+            51.202642169490495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1713.65775891818,
+            -54.58650489669435,
+            51.202642169490495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1716.65775891818,
+            -54.58650489669435,
+            51.202642169490495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1719.65775891818,
+            -54.58650489669435,
+            51.202642169490495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1722.65775891818,
+            -54.58650489669435,
+            51.202642169490495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1725.65775891818,
+            -54.58650489669435,
+            51.202642169490495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1728.65775891818,
+            -54.58650489669435,
+            51.202642169490495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1731.65775891818,
+            -54.58650489669435,
+            51.202642169490495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1734.65775891818,
+            -54.58650489669435,
+            51.202642169490495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1737.65775891818,
+            -54.58650489669435,
+            51.202642169490495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1740.65775891818,
+            -54.58650489669435,
+            51.202642169490495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1743.65775891818,
+            -54.58650489669435,
+            51.202642169490495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1746.65775891818,
+            -54.58650489669435,
+            51.202642169490495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1749.65775891818,
+            -54.58650489669435,
+            51.202642169490495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1752.65775891818,
+            -54.58650489669435,
+            51.202642169490495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1755.65775891818,
+            -54.58650489669435,
+            51.202642169490495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1758.65775891818,
+            -54.58650489669435,
+            51.202642169490495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1761.65775891818,
+            -54.58650489669435,
+            51.202642169490495
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -1761.65775891818,
+            -54.58650489669435,
+            51.202642169490495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -1764.2558351295334,
+            -56.08650489669435,
+            51.202642169490495
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1804.0,
+            -60.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_13-11-46_2120131589/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_13-11-46_2120131589/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..22998674300af6f4fa296a0bb492830d56d53851
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_13-11-46_2120131589/pose.jsonl
@@ -0,0 +1,600 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -960.34795933751,
+            -367.20758311191156,
+            64.6945024038109
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -962.9460355488634,
+            -368.70758311191156,
+            64.6945024038109
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -965.5441117602168,
+            -370.20758311191156,
+            64.6945024038109
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -968.1421879715701,
+            -371.70758311191156,
+            64.6945024038109
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -970.7402641829235,
+            -373.20758311191156,
+            64.6945024038109
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -973.3383403942769,
+            -374.70758311191156,
+            64.6945024038109
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -975.9364166056303,
+            -376.20758311191156,
+            64.6945024038109
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -978.5344928169836,
+            -377.70758311191156,
+            64.6945024038109
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -981.132569028337,
+            -379.20758311191156,
+            64.6945024038109
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -983.7306452396904,
+            -380.70758311191156,
+            64.6945024038109
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -986.3287214510437,
+            -382.20758311191156,
+            64.6945024038109
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -988.9267976623971,
+            -383.70758311191156,
+            64.6945024038109
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -991.5248738737505,
+            -385.20758311191156,
+            64.6945024038109
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -994.1229500851039,
+            -386.70758311191156,
+            64.6945024038109
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -996.7210262964572,
+            -388.20758311191156,
+            64.6945024038109
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -996.7210262964572,
+            -388.20758311191156,
+            64.6945024038109
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -999.7210262964572,
+            -388.20758311191156,
+            64.6945024038109
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1002.7210262964572,
+            -388.20758311191156,
+            64.6945024038109
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1005.7210262964572,
+            -388.20758311191156,
+            64.6945024038109
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1008.7210262964572,
+            -388.20758311191156,
+            64.6945024038109
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1011.7210262964572,
+            -388.20758311191156,
+            64.6945024038109
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1014.7210262964572,
+            -388.20758311191156,
+            64.6945024038109
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1017.7210262964572,
+            -388.20758311191156,
+            64.6945024038109
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1020.7210262964572,
+            -388.20758311191156,
+            64.6945024038109
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1023.7210262964572,
+            -388.20758311191156,
+            64.6945024038109
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1026.7210262964572,
+            -388.20758311191156,
+            64.6945024038109
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1029.7210262964572,
+            -388.20758311191156,
+            64.6945024038109
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1032.7210262964572,
+            -388.20758311191156,
+            64.6945024038109
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1035.7210262964572,
+            -388.20758311191156,
+            64.6945024038109
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1035.7210262964572,
+            -388.20758311191156,
+            64.6945024038109
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1035.7210262964572,
+            -388.20758311191156,
+            64.6945024038109
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1037.2210262964572,
+            -385.60950690055824,
+            64.6945024038109
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1038.7210262964572,
+            -383.01143068920493,
+            64.6945024038109
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1040.2210262964572,
+            -380.4133544778516,
+            64.6945024038109
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1041.7210262964572,
+            -377.8152782664983,
+            64.6945024038109
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1043.2210262964572,
+            -375.217202055145,
+            64.6945024038109
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1044.7210262964572,
+            -372.61912584379166,
+            64.6945024038109
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1044.7210262964572,
+            -372.61912584379166,
+            64.6945024038109
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1047.3191025078106,
+            -371.11912584379166,
+            64.6945024038109
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1049.917178719164,
+            -369.61912584379166,
+            64.6945024038109
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -1052.5152549305174,
+            -368.11912584379166,
+            64.6945024038109
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -1055.1133311418707,
+            -366.61912584379166,
+            64.6945024038109
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -1057.711407353224,
+            -365.11912584379166,
+            64.6945024038109
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -1060.3094835645775,
+            -363.61912584379166,
+            64.6945024038109
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -1062.9075597759308,
+            -362.11912584379166,
+            64.6945024038109
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1132.0,
+            -356.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_13-23-53_883109859/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_13-23-53_883109859/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4c0470b54188aadbfcdafe7a8d4e3c7013957933
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_13-23-53_883109859/pose.jsonl
@@ -0,0 +1,613 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            826.9086548349752,
+            -1727.283381584914,
+            65.90128652661676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            826.9086548349752,
+            -1724.283381584914,
+            65.90128652661676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            826.9086548349752,
+            -1721.283381584914,
+            65.90128652661676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            826.9086548349752,
+            -1718.283381584914,
+            65.90128652661676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            826.9086548349752,
+            -1715.283381584914,
+            65.90128652661676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            826.9086548349752,
+            -1712.283381584914,
+            65.90128652661676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            826.9086548349752,
+            -1709.283381584914,
+            65.90128652661676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            826.9086548349752,
+            -1706.283381584914,
+            65.90128652661676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            826.9086548349752,
+            -1703.283381584914,
+            65.90128652661676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            826.9086548349752,
+            -1700.283381584914,
+            65.90128652661676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            826.9086548349752,
+            -1697.283381584914,
+            65.90128652661676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            826.9086548349752,
+            -1694.283381584914,
+            65.90128652661676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            826.9086548349752,
+            -1691.283381584914,
+            65.90128652661676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            826.9086548349752,
+            -1688.283381584914,
+            65.90128652661676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            826.9086548349752,
+            -1685.283381584914,
+            65.90128652661676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            826.9086548349752,
+            -1682.283381584914,
+            65.90128652661676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            826.9086548349752,
+            -1679.283381584914,
+            65.90128652661676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            826.9086548349752,
+            -1676.283381584914,
+            65.90128652661676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            826.9086548349752,
+            -1673.283381584914,
+            65.90128652661676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            826.9086548349752,
+            -1670.283381584914,
+            65.90128652661676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            826.9086548349752,
+            -1667.283381584914,
+            65.90128652661676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            826.9086548349752,
+            -1664.283381584914,
+            65.90128652661676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            826.9086548349752,
+            -1661.283381584914,
+            65.90128652661676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            826.9086548349752,
+            -1658.283381584914,
+            65.90128652661676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            826.9086548349752,
+            -1655.283381584914,
+            65.90128652661676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            826.9086548349752,
+            -1652.283381584914,
+            65.90128652661676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            826.9086548349752,
+            -1649.283381584914,
+            65.90128652661676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            826.9086548349752,
+            -1646.283381584914,
+            65.90128652661676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            826.9086548349752,
+            -1643.283381584914,
+            65.90128652661676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            826.9086548349752,
+            -1640.283381584914,
+            65.90128652661676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            826.9086548349752,
+            -1637.283381584914,
+            65.90128652661676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            826.9086548349752,
+            -1634.283381584914,
+            65.90128652661676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            826.9086548349752,
+            -1631.283381584914,
+            65.90128652661676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            826.9086548349752,
+            -1628.283381584914,
+            65.90128652661676
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            826.9086548349752,
+            -1628.283381584914,
+            65.90128652661676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            825.4086548349752,
+            -1625.6853053735606,
+            65.90128652661676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            823.9086548349752,
+            -1623.0872291622072,
+            65.90128652661676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            822.4086548349752,
+            -1620.4891529508538,
+            65.90128652661676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            820.9086548349752,
+            -1617.8910767395005,
+            65.90128652661676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            819.4086548349752,
+            -1615.293000528147,
+            65.90128652661676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            817.9086548349752,
+            -1612.6949243167937,
+            65.90128652661676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            816.4086548349752,
+            -1610.0968481054404,
+            65.90128652661676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            814.9086548349752,
+            -1607.498771894087,
+            65.90128652661676
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            814.9086548349752,
+            -1607.498771894087,
+            65.90128652661676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            814.9086548349752,
+            -1604.498771894087,
+            65.90128652661676
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            814.9086548349752,
+            -1601.498771894087,
+            65.90128652661676
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            812.0,
+            -1560.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_13-49-14_857746939/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_13-49-14_857746939/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a6a08bc5f743aa2161be8e33e4815d7676b08833
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_13-49-14_857746939/pose.jsonl
@@ -0,0 +1,704 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1126.452561608505,
+            -920.6076998981672,
+            51.562111579770985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1124.952561608505,
+            -923.2057761095205,
+            51.562111579770985
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1124.952561608505,
+            -923.2057761095205,
+            51.562111579770985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982895
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1122.3544853971516,
+            -924.7057761095205,
+            51.562111579770985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1119.7564091857982,
+            -926.2057761095205,
+            51.562111579770985
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1119.7564091857982,
+            -926.2057761095205,
+            51.562111579770985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1118.2564091857982,
+            -928.8038523208738,
+            51.562111579770985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1116.7564091857982,
+            -931.4019285322272,
+            51.562111579770985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1115.2564091857982,
+            -934.0000047435806,
+            51.562111579770985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1113.7564091857982,
+            -936.598080954934,
+            51.562111579770985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1112.2564091857982,
+            -939.1961571662873,
+            51.562111579770985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1110.7564091857982,
+            -941.7942333776407,
+            51.562111579770985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1109.2564091857982,
+            -944.3923095889941,
+            51.562111579770985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1107.7564091857982,
+            -946.9903858003474,
+            51.562111579770985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1106.2564091857982,
+            -949.5884620117008,
+            51.562111579770985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1104.7564091857982,
+            -952.1865382230542,
+            51.562111579770985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1103.2564091857982,
+            -954.7846144344076,
+            51.562111579770985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1101.7564091857982,
+            -957.3826906457609,
+            51.562111579770985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1100.2564091857982,
+            -959.9807668571143,
+            51.562111579770985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1098.7564091857982,
+            -962.5788430684677,
+            51.562111579770985
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1098.7564091857982,
+            -962.5788430684677,
+            51.562111579770985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1098.7564091857982,
+            -965.5788430684677,
+            51.562111579770985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1098.7564091857982,
+            -968.5788430684677,
+            51.562111579770985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1098.7564091857982,
+            -971.5788430684677,
+            51.562111579770985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1098.7564091857982,
+            -974.5788430684677,
+            51.562111579770985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1098.7564091857982,
+            -977.5788430684677,
+            51.562111579770985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1098.7564091857982,
+            -980.5788430684677,
+            51.562111579770985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1098.7564091857982,
+            -983.5788430684677,
+            51.562111579770985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1098.7564091857982,
+            -986.5788430684677,
+            51.562111579770985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1098.7564091857982,
+            -989.5788430684677,
+            51.562111579770985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1098.7564091857982,
+            -992.5788430684677,
+            51.562111579770985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1098.7564091857982,
+            -995.5788430684677,
+            51.562111579770985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1098.7564091857982,
+            -998.5788430684677,
+            51.562111579770985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1098.7564091857982,
+            -1001.5788430684677,
+            51.562111579770985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1098.7564091857982,
+            -1004.5788430684677,
+            51.562111579770985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1098.7564091857982,
+            -1007.5788430684677,
+            51.562111579770985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1098.7564091857982,
+            -1010.5788430684677,
+            51.562111579770985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1098.7564091857982,
+            -1013.5788430684677,
+            51.562111579770985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1098.7564091857982,
+            -1016.5788430684677,
+            51.562111579770985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1098.7564091857982,
+            -1019.5788430684677,
+            51.562111579770985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -1098.7564091857982,
+            -1022.5788430684677,
+            51.562111579770985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -1098.7564091857982,
+            -1025.5788430684677,
+            51.562111579770985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -1098.7564091857982,
+            -1028.5788430684677,
+            51.562111579770985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -1098.7564091857982,
+            -1031.5788430684677,
+            51.562111579770985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -1098.7564091857982,
+            -1034.5788430684677,
+            51.562111579770985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -1098.7564091857982,
+            -1037.5788430684677,
+            51.562111579770985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -1098.7564091857982,
+            -1040.5788430684677,
+            51.562111579770985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -1098.7564091857982,
+            -1043.5788430684677,
+            51.562111579770985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -1098.7564091857982,
+            -1046.5788430684677,
+            51.562111579770985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -1098.7564091857982,
+            -1049.5788430684677,
+            51.562111579770985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -1098.7564091857982,
+            -1052.5788430684677,
+            51.562111579770985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -1098.7564091857982,
+            -1055.5788430684677,
+            51.562111579770985
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -1098.7564091857982,
+            -1058.5788430684677,
+            51.562111579770985
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1096.0,
+            -1080.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_13-50-50_950777694/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_13-50-50_950777694/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d66d13e5bd43355d18c83879c7447b93e178e8bd
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_13-50-50_950777694/pose.jsonl
@@ -0,0 +1,665 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -73.25925929685569,
+            -86.47107795075082,
+            53.226837442581584
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -75.857335508209,
+            -84.97107795075082,
+            53.226837442581584
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -78.45541171956232,
+            -83.47107795075082,
+            53.226837442581584
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -81.05348793091564,
+            -81.97107795075082,
+            53.226837442581584
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -83.65156414226895,
+            -80.47107795075082,
+            53.226837442581584
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -86.24964035362227,
+            -78.97107795075082,
+            53.226837442581584
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -88.84771656497558,
+            -77.47107795075082,
+            53.226837442581584
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -91.4457927763289,
+            -75.97107795075082,
+            53.226837442581584
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -94.04386898768222,
+            -74.47107795075082,
+            53.226837442581584
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -96.64194519903553,
+            -72.97107795075082,
+            53.226837442581584
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -96.64194519903553,
+            -72.97107795075082,
+            53.226837442581584
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -98.14194519903553,
+            -70.37300173939751,
+            53.226837442581584
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -99.64194519903553,
+            -67.77492552804419,
+            53.226837442581584
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -101.14194519903553,
+            -65.17684931669088,
+            53.226837442581584
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -102.64194519903553,
+            -62.57877310533756,
+            53.226837442581584
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -104.14194519903553,
+            -59.980696893984245,
+            53.226837442581584
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -105.64194519903553,
+            -57.38262068263093,
+            53.226837442581584
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -107.14194519903553,
+            -54.78454447127761,
+            53.226837442581584
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -108.64194519903553,
+            -52.1864682599243,
+            53.226837442581584
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -110.14194519903553,
+            -49.58839204857098,
+            53.226837442581584
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -111.64194519903553,
+            -46.990315837217665,
+            53.226837442581584
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -113.14194519903553,
+            -44.39223962586435,
+            53.226837442581584
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -114.64194519903553,
+            -41.79416341451103,
+            53.226837442581584
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -116.14194519903553,
+            -39.19608720315772,
+            53.226837442581584
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -117.64194519903553,
+            -36.5980109918044,
+            53.226837442581584
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -119.14194519903553,
+            -33.999934780451085,
+            53.226837442581584
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -120.64194519903553,
+            -31.40185856909777,
+            53.226837442581584
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -122.14194519903553,
+            -28.803782357744453,
+            53.226837442581584
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -123.64194519903553,
+            -26.205706146391137,
+            53.226837442581584
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -125.14194519903553,
+            -23.60762993503782,
+            53.226837442581584
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -126.64194519903553,
+            -21.009553723684505,
+            53.226837442581584
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -128.14194519903552,
+            -18.41147751233119,
+            53.226837442581584
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931913
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -129.64194519903552,
+            -15.813401300977873,
+            53.226837442581584
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -131.14194519903552,
+            -13.215325089624557,
+            53.226837442581584
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -131.14194519903552,
+            -13.215325089624557,
+            53.226837442581584
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -133.74002141038883,
+            -11.715325089624557,
+            53.226837442581584
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -136.33809762174215,
+            -10.215325089624557,
+            53.226837442581584
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -138.93617383309547,
+            -8.715325089624557,
+            53.226837442581584
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -141.53425004444878,
+            -7.215325089624557,
+            53.226837442581584
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -144.1323262558021,
+            -5.715325089624557,
+            53.226837442581584
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -146.73040246715541,
+            -4.215325089624557,
+            53.226837442581584
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -149.32847867850873,
+            -2.7153250896245567,
+            53.226837442581584
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -151.92655488986205,
+            -1.2153250896245569,
+            53.226837442581584
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -154.52463110121536,
+            0.2846749103754429,
+            53.226837442581584
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -157.12270731256868,
+            1.7846749103754427,
+            53.226837442581584
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -159.720783523922,
+            3.2846749103754425,
+            53.226837442581584
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -159.720783523922,
+            3.2846749103754425,
+            53.226837442581584
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -162.720783523922,
+            3.284674910375443,
+            53.226837442581584
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -165.720783523922,
+            3.2846749103754433,
+            53.226837442581584
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -168.720783523922,
+            3.284674910375444,
+            53.226837442581584
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -196.0,
+            28.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_14-1-43_1173369081/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_14-1-43_1173369081/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e0fd7e489a9566e37463e5d366cf1e181c7432c8
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_14-1-43_1173369081/pose.jsonl
@@ -0,0 +1,613 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1006.6170677690031,
+            -259.74121399660146,
+            68.57894639794671
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1009.6170677690031,
+            -259.74121399660146,
+            68.57894639794671
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1012.6170677690031,
+            -259.74121399660146,
+            68.57894639794671
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1012.6170677690031,
+            -259.74121399660146,
+            68.57894639794671
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1015.2151439803565,
+            -261.24121399660146,
+            68.57894639794671
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1015.2151439803565,
+            -261.24121399660146,
+            68.57894639794671
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1016.7151439803565,
+            -263.8392902079548,
+            68.57894639794671
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1018.2151439803565,
+            -266.4373664193081,
+            68.57894639794671
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1018.2151439803565,
+            -266.4373664193081,
+            68.57894639794671
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1020.8132201917099,
+            -267.9373664193081,
+            68.57894639794671
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1023.4112964030633,
+            -269.4373664193081,
+            68.57894639794671
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1026.0093726144166,
+            -270.9373664193081,
+            68.57894639794671
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1028.60744882577,
+            -272.4373664193081,
+            68.57894639794671
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1031.2055250371234,
+            -273.9373664193081,
+            68.57894639794671
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1033.8036012484768,
+            -275.4373664193081,
+            68.57894639794671
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1036.4016774598301,
+            -276.9373664193081,
+            68.57894639794671
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1038.9997536711835,
+            -278.4373664193081,
+            68.57894639794671
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1041.5978298825369,
+            -279.9373664193081,
+            68.57894639794671
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1044.1959060938902,
+            -281.4373664193081,
+            68.57894639794671
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1046.7939823052436,
+            -282.9373664193081,
+            68.57894639794671
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1049.392058516597,
+            -284.4373664193081,
+            68.57894639794671
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1051.9901347279504,
+            -285.9373664193081,
+            68.57894639794671
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1054.5882109393037,
+            -287.4373664193081,
+            68.57894639794671
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1057.186287150657,
+            -288.9373664193081,
+            68.57894639794671
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1059.7843633620105,
+            -290.4373664193081,
+            68.57894639794671
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1062.3824395733639,
+            -291.9373664193081,
+            68.57894639794671
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1064.9805157847172,
+            -293.4373664193081,
+            68.57894639794671
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1067.5785919960706,
+            -294.9373664193081,
+            68.57894639794671
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1070.176668207424,
+            -296.4373664193081,
+            68.57894639794671
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1072.7747444187773,
+            -297.9373664193081,
+            68.57894639794671
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1075.3728206301307,
+            -299.4373664193081,
+            68.57894639794671
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1077.970896841484,
+            -300.9373664193081,
+            68.57894639794671
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1080.5689730528375,
+            -302.4373664193081,
+            68.57894639794671
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1083.1670492641908,
+            -303.9373664193081,
+            68.57894639794671
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1085.7651254755442,
+            -305.4373664193081,
+            68.57894639794671
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1088.3632016868976,
+            -306.9373664193081,
+            68.57894639794671
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1090.961277898251,
+            -308.4373664193081,
+            68.57894639794671
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1093.5593541096043,
+            -309.9373664193081,
+            68.57894639794671
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1096.1574303209577,
+            -311.4373664193081,
+            68.57894639794671
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1098.755506532311,
+            -312.9373664193081,
+            68.57894639794671
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1101.3535827436644,
+            -314.4373664193081,
+            68.57894639794671
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1103.9516589550178,
+            -315.9373664193081,
+            68.57894639794671
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1106.5497351663712,
+            -317.4373664193081,
+            68.57894639794671
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1109.1478113777246,
+            -318.9373664193081,
+            68.57894639794671
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1111.745887589078,
+            -320.4373664193081,
+            68.57894639794671
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1114.3439638004313,
+            -321.9373664193081,
+            68.57894639794671
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1148.0,
+            -340.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_14-20-55_661362461/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_14-20-55_661362461/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d9aeb67675ce3778f8e932569fa40bf620f956f4
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_14-20-55_661362461/pose.jsonl
@@ -0,0 +1,613 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1349.5679624942086,
+            -670.6628056668369,
+            66.5438442770058
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1349.5679624942086,
+            -667.6628056668369,
+            66.5438442770058
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1349.5679624942086,
+            -664.6628056668369,
+            66.5438442770058
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1349.5679624942086,
+            -661.6628056668369,
+            66.5438442770058
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1349.5679624942086,
+            -658.6628056668369,
+            66.5438442770058
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1349.5679624942086,
+            -655.6628056668369,
+            66.5438442770058
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1349.5679624942086,
+            -652.6628056668369,
+            66.5438442770058
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1349.5679624942086,
+            -649.6628056668369,
+            66.5438442770058
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1349.5679624942086,
+            -646.6628056668369,
+            66.5438442770058
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1349.5679624942086,
+            -643.6628056668369,
+            66.5438442770058
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1349.5679624942086,
+            -640.6628056668369,
+            66.5438442770058
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1349.5679624942086,
+            -637.6628056668369,
+            66.5438442770058
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1349.5679624942086,
+            -634.6628056668369,
+            66.5438442770058
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1349.5679624942086,
+            -631.6628056668369,
+            66.5438442770058
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1349.5679624942086,
+            -628.6628056668369,
+            66.5438442770058
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1349.5679624942086,
+            -625.6628056668369,
+            66.5438442770058
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1349.5679624942086,
+            -622.6628056668369,
+            66.5438442770058
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1349.5679624942086,
+            -619.6628056668369,
+            66.5438442770058
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1349.5679624942086,
+            -616.6628056668369,
+            66.5438442770058
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1349.5679624942086,
+            -613.6628056668369,
+            66.5438442770058
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1349.5679624942086,
+            -610.6628056668369,
+            66.5438442770058
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1349.5679624942086,
+            -607.6628056668369,
+            66.5438442770058
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1349.5679624942086,
+            -604.6628056668369,
+            66.5438442770058
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1349.5679624942086,
+            -601.6628056668369,
+            66.5438442770058
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1349.5679624942086,
+            -598.6628056668369,
+            66.5438442770058
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1349.5679624942086,
+            -595.6628056668369,
+            66.5438442770058
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1349.5679624942086,
+            -595.6628056668369,
+            66.5438442770058
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1348.0679624942086,
+            -593.0647294554835,
+            66.5438442770058
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1346.5679624942086,
+            -590.4666532441302,
+            66.5438442770058
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1345.0679624942086,
+            -587.8685770327768,
+            66.5438442770058
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1343.5679624942086,
+            -585.2705008214234,
+            66.5438442770058
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1342.0679624942086,
+            -582.67242461007,
+            66.5438442770058
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1340.5679624942086,
+            -580.0743483987167,
+            66.5438442770058
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1339.0679624942086,
+            -577.4762721873633,
+            66.5438442770058
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1337.5679624942086,
+            -574.8781959760099,
+            66.5438442770058
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1336.0679624942086,
+            -572.2801197646565,
+            66.5438442770058
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1334.5679624942086,
+            -569.6820435533032,
+            66.5438442770058
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1333.0679624942086,
+            -567.0839673419498,
+            66.5438442770058
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1331.5679624942086,
+            -564.4858911305964,
+            66.5438442770058
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1330.0679624942086,
+            -561.887814919243,
+            66.5438442770058
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -1328.5679624942086,
+            -559.2897387078897,
+            66.5438442770058
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -1327.0679624942086,
+            -556.6916624965363,
+            66.5438442770058
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -1325.5679624942086,
+            -554.0935862851829,
+            66.5438442770058
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -1324.0679624942086,
+            -551.4955100738296,
+            66.5438442770058
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -1322.5679624942086,
+            -548.8974338624762,
+            66.5438442770058
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -1321.0679624942086,
+            -546.2993576511228,
+            66.5438442770058
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1308.0,
+            -500.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_14-50-50_1666992709/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_14-50-50_1666992709/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e09b6b032fb386acd6022a5bb5230b6c89f71cc4
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_14-50-50_1666992709/pose.jsonl
@@ -0,0 +1,717 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            876.1067586785292,
+            -1615.6291615066493,
+            51.09933401208092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            873.508682467176,
+            -1617.1291615066493,
+            51.09933401208092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            870.9106062558226,
+            -1618.6291615066493,
+            51.09933401208092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            868.3125300444692,
+            -1620.1291615066493,
+            51.09933401208092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            865.7144538331158,
+            -1621.6291615066493,
+            51.09933401208092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            863.1163776217625,
+            -1623.1291615066493,
+            51.09933401208092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            860.5183014104091,
+            -1624.6291615066493,
+            51.09933401208092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            857.9202251990557,
+            -1626.1291615066493,
+            51.09933401208092
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            857.9202251990557,
+            -1626.1291615066493,
+            51.09933401208092
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            857.9202251990557,
+            -1626.1291615066493,
+            51.09933401208092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.570796326794906
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            857.9202251990557,
+            -1629.1291615066493,
+            51.09933401208092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            857.9202251990557,
+            -1632.1291615066493,
+            51.09933401208092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            857.9202251990557,
+            -1635.1291615066493,
+            51.09933401208092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            857.9202251990557,
+            -1638.1291615066493,
+            51.09933401208092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            857.9202251990557,
+            -1641.1291615066493,
+            51.09933401208092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            857.9202251990557,
+            -1644.1291615066493,
+            51.09933401208092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            857.9202251990557,
+            -1647.1291615066493,
+            51.09933401208092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            857.9202251990557,
+            -1650.1291615066493,
+            51.09933401208092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            857.9202251990557,
+            -1653.1291615066493,
+            51.09933401208092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            857.9202251990557,
+            -1656.1291615066493,
+            51.09933401208092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            857.9202251990557,
+            -1659.1291615066493,
+            51.09933401208092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            857.9202251990557,
+            -1662.1291615066493,
+            51.09933401208092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            857.9202251990557,
+            -1665.1291615066493,
+            51.09933401208092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            857.9202251990557,
+            -1668.1291615066493,
+            51.09933401208092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            857.9202251990557,
+            -1671.1291615066493,
+            51.09933401208092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            857.9202251990557,
+            -1674.1291615066493,
+            51.09933401208092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            857.9202251990557,
+            -1677.1291615066493,
+            51.09933401208092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            857.9202251990557,
+            -1680.1291615066493,
+            51.09933401208092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            857.9202251990557,
+            -1683.1291615066493,
+            51.09933401208092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            857.9202251990557,
+            -1686.1291615066493,
+            51.09933401208092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            857.9202251990557,
+            -1689.1291615066493,
+            51.09933401208092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            857.9202251990557,
+            -1692.1291615066493,
+            51.09933401208092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            857.9202251990557,
+            -1695.1291615066493,
+            51.09933401208092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            857.9202251990557,
+            -1698.1291615066493,
+            51.09933401208092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            857.9202251990557,
+            -1701.1291615066493,
+            51.09933401208092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            857.9202251990557,
+            -1704.1291615066493,
+            51.09933401208092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            857.9202251990557,
+            -1707.1291615066493,
+            51.09933401208092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            857.9202251990557,
+            -1710.1291615066493,
+            51.09933401208092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            857.9202251990557,
+            -1713.1291615066493,
+            51.09933401208092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            857.9202251990557,
+            -1716.1291615066493,
+            51.09933401208092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            857.9202251990557,
+            -1719.1291615066493,
+            51.09933401208092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            857.9202251990557,
+            -1722.1291615066493,
+            51.09933401208092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            857.9202251990557,
+            -1725.1291615066493,
+            51.09933401208092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            857.9202251990557,
+            -1728.1291615066493,
+            51.09933401208092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            857.9202251990557,
+            -1731.1291615066493,
+            51.09933401208092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            857.9202251990557,
+            -1734.1291615066493,
+            51.09933401208092
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            857.9202251990557,
+            -1734.1291615066493,
+            51.09933401208092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            859.4202251990557,
+            -1736.7272377180027,
+            51.09933401208092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            860.9202251990557,
+            -1739.325313929356,
+            51.09933401208092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            862.4202251990557,
+            -1741.9233901407094,
+            51.09933401208092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            863.9202251990557,
+            -1744.5214663520628,
+            51.09933401208092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            865.4202251990557,
+            -1747.1195425634162,
+            51.09933401208092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            866.9202251990557,
+            -1749.7176187747696,
+            51.09933401208092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            868.4202251990557,
+            -1752.315694986123,
+            51.09933401208092
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            868.0,
+            -1768.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_15-22-43_840536404/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_15-22-43_840536404/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..772e8d2923924bdb86e874ffa249e3767a19d0b6
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_15-22-43_840536404/pose.jsonl
@@ -0,0 +1,743 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1787.7781189921388,
+            -369.4932744205936,
+            47.66129972947034
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1787.7781189921388,
+            -372.4932744205936,
+            47.66129972947034
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1787.7781189921388,
+            -375.4932744205936,
+            47.66129972947034
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1787.7781189921388,
+            -378.4932744205936,
+            47.66129972947034
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1787.7781189921388,
+            -381.4932744205936,
+            47.66129972947034
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1787.7781189921388,
+            -384.4932744205936,
+            47.66129972947034
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1787.7781189921388,
+            -387.4932744205936,
+            47.66129972947034
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1787.7781189921388,
+            -390.4932744205936,
+            47.66129972947034
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1787.7781189921388,
+            -393.4932744205936,
+            47.66129972947034
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1787.7781189921388,
+            -396.4932744205936,
+            47.66129972947034
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1787.7781189921388,
+            -399.4932744205936,
+            47.66129972947034
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1787.7781189921388,
+            -402.4932744205936,
+            47.66129972947034
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1787.7781189921388,
+            -405.4932744205936,
+            47.66129972947034
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1787.7781189921388,
+            -408.4932744205936,
+            47.66129972947034
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1787.7781189921388,
+            -411.4932744205936,
+            47.66129972947034
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1787.7781189921388,
+            -414.4932744205936,
+            47.66129972947034
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1787.7781189921388,
+            -417.4932744205936,
+            47.66129972947034
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1787.7781189921388,
+            -420.4932744205936,
+            47.66129972947034
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1787.7781189921388,
+            -423.4932744205936,
+            47.66129972947034
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1787.7781189921388,
+            -426.4932744205936,
+            47.66129972947034
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1787.7781189921388,
+            -429.4932744205936,
+            47.66129972947034
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1787.7781189921388,
+            -432.4932744205936,
+            47.66129972947034
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1787.7781189921388,
+            -435.4932744205936,
+            47.66129972947034
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1787.7781189921388,
+            -438.4932744205936,
+            47.66129972947034
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1787.7781189921388,
+            -441.4932744205936,
+            47.66129972947034
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1787.7781189921388,
+            -444.4932744205936,
+            47.66129972947034
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1787.7781189921388,
+            -447.4932744205936,
+            47.66129972947034
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1787.7781189921388,
+            -450.4932744205936,
+            47.66129972947034
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1787.7781189921388,
+            -453.4932744205936,
+            47.66129972947034
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1787.7781189921388,
+            -456.4932744205936,
+            47.66129972947034
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1787.7781189921388,
+            -459.4932744205936,
+            47.66129972947034
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1787.7781189921388,
+            -462.4932744205936,
+            47.66129972947034
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1787.7781189921388,
+            -465.4932744205936,
+            47.66129972947034
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1787.7781189921388,
+            -468.4932744205936,
+            47.66129972947034
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1787.7781189921388,
+            -471.4932744205936,
+            47.66129972947034
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1787.7781189921388,
+            -474.4932744205936,
+            47.66129972947034
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1787.7781189921388,
+            -477.4932744205936,
+            47.66129972947034
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1787.7781189921388,
+            -480.4932744205936,
+            47.66129972947034
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1787.7781189921388,
+            -483.4932744205936,
+            47.66129972947034
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1787.7781189921388,
+            -486.4932744205936,
+            47.66129972947034
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -1787.7781189921388,
+            -489.4932744205936,
+            47.66129972947034
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -1787.7781189921388,
+            -492.4932744205936,
+            47.66129972947034
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -1787.7781189921388,
+            -495.4932744205936,
+            47.66129972947034
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -1787.7781189921388,
+            -498.4932744205936,
+            47.66129972947034
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -1787.7781189921388,
+            -501.4932744205936,
+            47.66129972947034
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -1787.7781189921388,
+            -504.4932744205936,
+            47.66129972947034
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -1787.7781189921388,
+            -507.4932744205936,
+            47.66129972947034
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -1787.7781189921388,
+            -510.4932744205936,
+            47.66129972947034
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -1787.7781189921388,
+            -513.4932744205936,
+            47.66129972947034
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -1787.7781189921388,
+            -516.4932744205936,
+            47.66129972947034
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -1787.7781189921388,
+            -519.4932744205936,
+            47.66129972947034
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -1787.7781189921388,
+            -522.4932744205936,
+            47.66129972947034
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -1787.7781189921388,
+            -525.4932744205936,
+            47.66129972947034
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -1787.7781189921388,
+            -525.4932744205936,
+            47.66129972947034
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -1786.2781189921388,
+            -528.0913506319469,
+            47.66129972947034
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -1784.7781189921388,
+            -530.6894268433002,
+            47.66129972947034
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1784.0,
+            -548.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_15-52-17_1244624221/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_15-52-17_1244624221/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..31ee57907969171a70427f6af6ec025568d702e0
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_15-52-17_1244624221/pose.jsonl
@@ -0,0 +1,67 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1792.427375654235,
+            235.24215682489185,
+            69.31197052163219
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1795.0254518655884,
+            233.74215682489185,
+            69.31197052163219
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1797.6235280769417,
+            232.24215682489185,
+            69.31197052163219
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1800.221604288295,
+            230.74215682489185,
+            69.31197052163219
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1928.0,
+            160.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_16-10-24_1127210541/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_16-10-24_1127210541/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2b76f96eb88af95c1cbc67098d906e685c2983ce
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_16-10-24_1127210541/pose.jsonl
@@ -0,0 +1,730 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1438.1631811634434,
+            -1527.7510085967688,
+            49.56687012486763
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1441.1631811634434,
+            -1527.7510085967688,
+            49.56687012486763
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1444.1631811634434,
+            -1527.7510085967688,
+            49.56687012486763
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1447.1631811634434,
+            -1527.7510085967688,
+            49.56687012486763
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1450.1631811634434,
+            -1527.7510085967688,
+            49.56687012486763
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1453.1631811634434,
+            -1527.7510085967688,
+            49.56687012486763
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1456.1631811634434,
+            -1527.7510085967688,
+            49.56687012486763
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1459.1631811634434,
+            -1527.7510085967688,
+            49.56687012486763
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1462.1631811634434,
+            -1527.7510085967688,
+            49.56687012486763
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1465.1631811634434,
+            -1527.7510085967688,
+            49.56687012486763
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1468.1631811634434,
+            -1527.7510085967688,
+            49.56687012486763
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1471.1631811634434,
+            -1527.7510085967688,
+            49.56687012486763
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1474.1631811634434,
+            -1527.7510085967688,
+            49.56687012486763
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1477.1631811634434,
+            -1527.7510085967688,
+            49.56687012486763
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1480.1631811634434,
+            -1527.7510085967688,
+            49.56687012486763
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1483.1631811634434,
+            -1527.7510085967688,
+            49.56687012486763
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1486.1631811634434,
+            -1527.7510085967688,
+            49.56687012486763
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1489.1631811634434,
+            -1527.7510085967688,
+            49.56687012486763
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1492.1631811634434,
+            -1527.7510085967688,
+            49.56687012486763
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1495.1631811634434,
+            -1527.7510085967688,
+            49.56687012486763
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1498.1631811634434,
+            -1527.7510085967688,
+            49.56687012486763
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1501.1631811634434,
+            -1527.7510085967688,
+            49.56687012486763
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1504.1631811634434,
+            -1527.7510085967688,
+            49.56687012486763
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1507.1631811634434,
+            -1527.7510085967688,
+            49.56687012486763
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1510.1631811634434,
+            -1527.7510085967688,
+            49.56687012486763
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1513.1631811634434,
+            -1527.7510085967688,
+            49.56687012486763
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1516.1631811634434,
+            -1527.7510085967688,
+            49.56687012486763
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1519.1631811634434,
+            -1527.7510085967688,
+            49.56687012486763
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1522.1631811634434,
+            -1527.7510085967688,
+            49.56687012486763
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1525.1631811634434,
+            -1527.7510085967688,
+            49.56687012486763
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1528.1631811634434,
+            -1527.7510085967688,
+            49.56687012486763
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1531.1631811634434,
+            -1527.7510085967688,
+            49.56687012486763
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1534.1631811634434,
+            -1527.7510085967688,
+            49.56687012486763
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1537.1631811634434,
+            -1527.7510085967688,
+            49.56687012486763
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1540.1631811634434,
+            -1527.7510085967688,
+            49.56687012486763
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1543.1631811634434,
+            -1527.7510085967688,
+            49.56687012486763
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1546.1631811634434,
+            -1527.7510085967688,
+            49.56687012486763
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1546.1631811634434,
+            -1527.7510085967688,
+            49.56687012486763
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1548.7612573747967,
+            -1529.2510085967688,
+            49.56687012486763
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1551.3593335861501,
+            -1530.7510085967688,
+            49.56687012486763
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1553.9574097975035,
+            -1532.2510085967688,
+            49.56687012486763
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1556.5554860088569,
+            -1533.7510085967688,
+            49.56687012486763
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1559.1535622202102,
+            -1535.2510085967688,
+            49.56687012486763
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1561.7516384315636,
+            -1536.7510085967688,
+            49.56687012486763
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1564.349714642917,
+            -1538.2510085967688,
+            49.56687012486763
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1566.9477908542704,
+            -1539.7510085967688,
+            49.56687012486763
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1569.5458670656237,
+            -1541.2510085967688,
+            49.56687012486763
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1572.143943276977,
+            -1542.7510085967688,
+            49.56687012486763
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1574.7420194883305,
+            -1544.2510085967688,
+            49.56687012486763
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1577.3400956996838,
+            -1545.7510085967688,
+            49.56687012486763
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            1579.9381719110372,
+            -1547.2510085967688,
+            49.56687012486763
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            1582.5362481223906,
+            -1548.7510085967688,
+            49.56687012486763
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            1585.134324333744,
+            -1550.2510085967688,
+            49.56687012486763
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            1587.7324005450973,
+            -1551.7510085967688,
+            49.56687012486763
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            1590.3304767564507,
+            -1553.2510085967688,
+            49.56687012486763
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1612.0,
+            -1556.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_16-46-13_441145323/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_16-46-13_441145323/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7fd82676ba25ed8c27988d8274f1022bc5b6f3ae
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_16-46-13_441145323/pose.jsonl
@@ -0,0 +1,678 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1629.4468271214944,
+            1572.3608697747225,
+            68.15994605788771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1629.4468271214944,
+            1575.3608697747225,
+            68.15994605788771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1629.4468271214944,
+            1578.3608697747225,
+            68.15994605788771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1629.4468271214944,
+            1581.3608697747225,
+            68.15994605788771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1629.4468271214944,
+            1584.3608697747225,
+            68.15994605788771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1629.4468271214944,
+            1587.3608697747225,
+            68.15994605788771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1629.4468271214944,
+            1590.3608697747225,
+            68.15994605788771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1629.4468271214944,
+            1593.3608697747225,
+            68.15994605788771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1629.4468271214944,
+            1596.3608697747225,
+            68.15994605788771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1629.4468271214944,
+            1599.3608697747225,
+            68.15994605788771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1629.4468271214944,
+            1602.3608697747225,
+            68.15994605788771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1629.4468271214944,
+            1605.3608697747225,
+            68.15994605788771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1629.4468271214944,
+            1608.3608697747225,
+            68.15994605788771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1629.4468271214944,
+            1611.3608697747225,
+            68.15994605788771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1629.4468271214944,
+            1614.3608697747225,
+            68.15994605788771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1629.4468271214944,
+            1617.3608697747225,
+            68.15994605788771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1629.4468271214944,
+            1620.3608697747225,
+            68.15994605788771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1629.4468271214944,
+            1623.3608697747225,
+            68.15994605788771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1629.4468271214944,
+            1626.3608697747225,
+            68.15994605788771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1629.4468271214944,
+            1629.3608697747225,
+            68.15994605788771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1629.4468271214944,
+            1632.3608697747225,
+            68.15994605788771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1629.4468271214944,
+            1635.3608697747225,
+            68.15994605788771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1629.4468271214944,
+            1638.3608697747225,
+            68.15994605788771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1629.4468271214944,
+            1641.3608697747225,
+            68.15994605788771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1629.4468271214944,
+            1644.3608697747225,
+            68.15994605788771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1629.4468271214944,
+            1647.3608697747225,
+            68.15994605788771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1629.4468271214944,
+            1650.3608697747225,
+            68.15994605788771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1629.4468271214944,
+            1653.3608697747225,
+            68.15994605788771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1629.4468271214944,
+            1656.3608697747225,
+            68.15994605788771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1629.4468271214944,
+            1659.3608697747225,
+            68.15994605788771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1629.4468271214944,
+            1662.3608697747225,
+            68.15994605788771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1629.4468271214944,
+            1665.3608697747225,
+            68.15994605788771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1629.4468271214944,
+            1668.3608697747225,
+            68.15994605788771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1629.4468271214944,
+            1671.3608697747225,
+            68.15994605788771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1629.4468271214944,
+            1674.3608697747225,
+            68.15994605788771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1629.4468271214944,
+            1677.3608697747225,
+            68.15994605788771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1629.4468271214944,
+            1680.3608697747225,
+            68.15994605788771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1629.4468271214944,
+            1683.3608697747225,
+            68.15994605788771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1629.4468271214944,
+            1686.3608697747225,
+            68.15994605788771
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1629.4468271214944,
+            1686.3608697747225,
+            68.15994605788771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1630.9468271214944,
+            1688.9589459860758,
+            68.15994605788771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1632.4468271214944,
+            1691.5570221974292,
+            68.15994605788771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1633.9468271214944,
+            1694.1550984087826,
+            68.15994605788771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1635.4468271214944,
+            1696.753174620136,
+            68.15994605788771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1636.9468271214944,
+            1699.3512508314893,
+            68.15994605788771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1638.4468271214944,
+            1701.9493270428427,
+            68.15994605788771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1639.9468271214944,
+            1704.547403254196,
+            68.15994605788771
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1639.9468271214944,
+            1704.547403254196,
+            68.15994605788771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1639.9468271214944,
+            1707.547403254196,
+            68.15994605788771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1639.9468271214944,
+            1710.547403254196,
+            68.15994605788771
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            1639.9468271214944,
+            1713.547403254196,
+            68.15994605788771
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1644.0,
+            1740.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_18-0-12_2137387633/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_18-0-12_2137387633/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fd5896e62f6e5d2f960f6a17d5aadc1b20b87b1b
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_18-0-12_2137387633/pose.jsonl
@@ -0,0 +1,587 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1115.6626270113838,
+            338.2448114508803,
+            57.985480497680854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1113.0645508000305,
+            339.7448114508803,
+            57.985480497680854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1110.466474588677,
+            341.2448114508803,
+            57.985480497680854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1107.8683983773237,
+            342.7448114508803,
+            57.985480497680854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1105.2703221659704,
+            344.2448114508803,
+            57.985480497680854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1102.672245954617,
+            345.7448114508803,
+            57.985480497680854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1100.0741697432636,
+            347.2448114508803,
+            57.985480497680854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1097.4760935319102,
+            348.7448114508803,
+            57.985480497680854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1094.8780173205569,
+            350.2448114508803,
+            57.985480497680854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1092.2799411092035,
+            351.7448114508803,
+            57.985480497680854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1089.6818648978501,
+            353.2448114508803,
+            57.985480497680854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1087.0837886864967,
+            354.7448114508803,
+            57.985480497680854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1084.4857124751434,
+            356.2448114508803,
+            57.985480497680854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1081.88763626379,
+            357.7448114508803,
+            57.985480497680854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1079.2895600524366,
+            359.2448114508803,
+            57.985480497680854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1076.6914838410833,
+            360.7448114508803,
+            57.985480497680854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1074.0934076297299,
+            362.2448114508803,
+            57.985480497680854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1071.4953314183765,
+            363.7448114508803,
+            57.985480497680854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1068.8972552070231,
+            365.2448114508803,
+            57.985480497680854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1066.2991789956698,
+            366.7448114508803,
+            57.985480497680854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1063.7011027843164,
+            368.2448114508803,
+            57.985480497680854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1061.103026572963,
+            369.7448114508803,
+            57.985480497680854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1058.5049503616096,
+            371.2448114508803,
+            57.985480497680854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1055.9068741502563,
+            372.7448114508803,
+            57.985480497680854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1053.308797938903,
+            374.2448114508803,
+            57.985480497680854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1050.7107217275495,
+            375.7448114508803,
+            57.985480497680854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1048.1126455161962,
+            377.2448114508803,
+            57.985480497680854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1045.5145693048428,
+            378.7448114508803,
+            57.985480497680854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1042.9164930934894,
+            380.2448114508803,
+            57.985480497680854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1040.318416882136,
+            381.7448114508803,
+            57.985480497680854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1037.7203406707827,
+            383.2448114508803,
+            57.985480497680854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1035.1222644594293,
+            384.7448114508803,
+            57.985480497680854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1032.524188248076,
+            386.2448114508803,
+            57.985480497680854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1029.9261120367225,
+            387.7448114508803,
+            57.985480497680854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1027.3280358253692,
+            389.2448114508803,
+            57.985480497680854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1024.7299596140158,
+            390.7448114508803,
+            57.985480497680854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1022.1318834026624,
+            392.2448114508803,
+            57.985480497680854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1019.533807191309,
+            393.7448114508803,
+            57.985480497680854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1016.9357309799557,
+            395.2448114508803,
+            57.985480497680854
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1016.9357309799557,
+            395.2448114508803,
+            57.985480497680854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1015.4357309799557,
+            397.84288766223364,
+            57.985480497680854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1013.9357309799557,
+            400.44096387358695,
+            57.985480497680854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1012.4357309799557,
+            403.03904008494027,
+            57.985480497680854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1010.9357309799557,
+            405.6371162962936,
+            57.985480497680854
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            988.0,
+            424.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_18-55-35_1461722172/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_18-55-35_1461722172/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e38ed33d52f59cd680b12f669a9dc13d8d3a16c4
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_18-55-35_1461722172/pose.jsonl
@@ -0,0 +1,444 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1714.5025365590961,
+            -698.5972375008002,
+            54.96114818305739
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1717.1006127704495,
+            -697.0972375008002,
+            54.96114818305739
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1719.698688981803,
+            -695.5972375008002,
+            54.96114818305739
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1722.2967651931563,
+            -694.0972375008002,
+            54.96114818305739
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1724.8948414045096,
+            -692.5972375008002,
+            54.96114818305739
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1727.492917615863,
+            -691.0972375008002,
+            54.96114818305739
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1730.0909938272164,
+            -689.5972375008002,
+            54.96114818305739
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1732.6890700385698,
+            -688.0972375008002,
+            54.96114818305739
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1735.2871462499231,
+            -686.5972375008002,
+            54.96114818305739
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1737.8852224612765,
+            -685.0972375008002,
+            54.96114818305739
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1740.4832986726299,
+            -683.5972375008002,
+            54.96114818305739
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1743.0813748839832,
+            -682.0972375008002,
+            54.96114818305739
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1745.6794510953366,
+            -680.5972375008002,
+            54.96114818305739
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1748.27752730669,
+            -679.0972375008002,
+            54.96114818305739
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1750.8756035180434,
+            -677.5972375008002,
+            54.96114818305739
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1753.4736797293967,
+            -676.0972375008002,
+            54.96114818305739
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1756.07175594075,
+            -674.5972375008002,
+            54.96114818305739
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1758.6698321521035,
+            -673.0972375008002,
+            54.96114818305739
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1758.6698321521035,
+            -673.0972375008002,
+            54.96114818305739
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1761.6698321521035,
+            -673.0972375008002,
+            54.96114818305739
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1764.6698321521035,
+            -673.0972375008002,
+            54.96114818305739
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1767.6698321521035,
+            -673.0972375008002,
+            54.96114818305739
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1770.6698321521035,
+            -673.0972375008002,
+            54.96114818305739
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1773.6698321521035,
+            -673.0972375008002,
+            54.96114818305739
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1776.6698321521035,
+            -673.0972375008002,
+            54.96114818305739
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1779.6698321521035,
+            -673.0972375008002,
+            54.96114818305739
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1782.6698321521035,
+            -673.0972375008002,
+            54.96114818305739
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1785.6698321521035,
+            -673.0972375008002,
+            54.96114818305739
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1788.6698321521035,
+            -673.0972375008002,
+            54.96114818305739
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1791.6698321521035,
+            -673.0972375008002,
+            54.96114818305739
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1794.6698321521035,
+            -673.0972375008002,
+            54.96114818305739
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1797.6698321521035,
+            -673.0972375008002,
+            54.96114818305739
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1800.6698321521035,
+            -673.0972375008002,
+            54.96114818305739
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1872.0,
+            -648.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_19-44-44_925357509/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_19-44-44_925357509/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f7178aaa19a5a48b43db19fdae98aeaed302acaf
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_19-44-44_925357509/pose.jsonl
@@ -0,0 +1,587 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1177.9403489432582,
+            -1634.5956430259946,
+            62.25477009434178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1176.4403489432582,
+            -1637.193719237348,
+            62.25477009434178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1174.9403489432582,
+            -1639.7917954487014,
+            62.25477009434178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1173.4403489432582,
+            -1642.3898716600547,
+            62.25477009434178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1171.9403489432582,
+            -1644.987947871408,
+            62.25477009434178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1170.4403489432582,
+            -1647.5860240827615,
+            62.25477009434178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1168.9403489432582,
+            -1650.1841002941148,
+            62.25477009434178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1167.4403489432582,
+            -1652.7821765054682,
+            62.25477009434178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1165.9403489432582,
+            -1655.3802527168216,
+            62.25477009434178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1164.4403489432582,
+            -1657.978328928175,
+            62.25477009434178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1162.9403489432582,
+            -1660.5764051395283,
+            62.25477009434178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1161.4403489432582,
+            -1663.1744813508817,
+            62.25477009434178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1159.9403489432582,
+            -1665.772557562235,
+            62.25477009434178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1158.4403489432582,
+            -1668.3706337735885,
+            62.25477009434178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1156.9403489432582,
+            -1670.9687099849418,
+            62.25477009434178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1155.4403489432582,
+            -1673.5667861962952,
+            62.25477009434178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1153.9403489432582,
+            -1676.1648624076486,
+            62.25477009434178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1152.4403489432582,
+            -1678.762938619002,
+            62.25477009434178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1150.9403489432582,
+            -1681.3610148303553,
+            62.25477009434178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1149.4403489432582,
+            -1683.9590910417087,
+            62.25477009434178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1147.9403489432582,
+            -1686.557167253062,
+            62.25477009434178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1146.4403489432582,
+            -1689.1552434644154,
+            62.25477009434178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1144.9403489432582,
+            -1691.7533196757688,
+            62.25477009434178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1143.4403489432582,
+            -1694.3513958871222,
+            62.25477009434178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1141.9403489432582,
+            -1696.9494720984756,
+            62.25477009434178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1140.4403489432582,
+            -1699.547548309829,
+            62.25477009434178
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1140.4403489432582,
+            -1699.547548309829,
+            62.25477009434178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1140.4403489432582,
+            -1702.547548309829,
+            62.25477009434178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1140.4403489432582,
+            -1705.547548309829,
+            62.25477009434178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1140.4403489432582,
+            -1708.547548309829,
+            62.25477009434178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1140.4403489432582,
+            -1711.547548309829,
+            62.25477009434178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1140.4403489432582,
+            -1714.547548309829,
+            62.25477009434178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1140.4403489432582,
+            -1717.547548309829,
+            62.25477009434178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1140.4403489432582,
+            -1720.547548309829,
+            62.25477009434178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1140.4403489432582,
+            -1723.547548309829,
+            62.25477009434178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1140.4403489432582,
+            -1726.547548309829,
+            62.25477009434178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1140.4403489432582,
+            -1729.547548309829,
+            62.25477009434178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1140.4403489432582,
+            -1732.547548309829,
+            62.25477009434178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1140.4403489432582,
+            -1735.547548309829,
+            62.25477009434178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1140.4403489432582,
+            -1738.547548309829,
+            62.25477009434178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1140.4403489432582,
+            -1741.547548309829,
+            62.25477009434178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1140.4403489432582,
+            -1744.547548309829,
+            62.25477009434178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1140.4403489432582,
+            -1747.547548309829,
+            62.25477009434178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1140.4403489432582,
+            -1750.547548309829,
+            62.25477009434178
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1132.0,
+            -1784.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_19-6-22_2135962564/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_19-6-22_2135962564/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3c47757684b6cfd0efb043a8c6ba34455ba22d9c
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_19-6-22_2135962564/pose.jsonl
@@ -0,0 +1,600 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1143.0874375545839,
+            203.6094507302728,
+            43.0770097051716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1145.6855137659372,
+            202.1094507302728,
+            43.0770097051716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1148.2835899772906,
+            200.6094507302728,
+            43.0770097051716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1150.881666188644,
+            199.1094507302728,
+            43.0770097051716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1153.4797423999973,
+            197.6094507302728,
+            43.0770097051716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1156.0778186113507,
+            196.1094507302728,
+            43.0770097051716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1158.675894822704,
+            194.6094507302728,
+            43.0770097051716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1161.2739710340575,
+            193.1094507302728,
+            43.0770097051716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1163.8720472454108,
+            191.6094507302728,
+            43.0770097051716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1166.4701234567642,
+            190.1094507302728,
+            43.0770097051716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1169.0681996681176,
+            188.6094507302728,
+            43.0770097051716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1171.666275879471,
+            187.1094507302728,
+            43.0770097051716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1174.2643520908243,
+            185.6094507302728,
+            43.0770097051716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1176.8624283021777,
+            184.1094507302728,
+            43.0770097051716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1179.460504513531,
+            182.6094507302728,
+            43.0770097051716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1182.0585807248845,
+            181.1094507302728,
+            43.0770097051716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1184.6566569362378,
+            179.6094507302728,
+            43.0770097051716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1187.2547331475912,
+            178.1094507302728,
+            43.0770097051716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1189.8528093589446,
+            176.6094507302728,
+            43.0770097051716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1192.450885570298,
+            175.1094507302728,
+            43.0770097051716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1195.0489617816513,
+            173.6094507302728,
+            43.0770097051716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1197.6470379930047,
+            172.1094507302728,
+            43.0770097051716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1200.245114204358,
+            170.6094507302728,
+            43.0770097051716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1202.8431904157114,
+            169.1094507302728,
+            43.0770097051716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1205.4412666270648,
+            167.6094507302728,
+            43.0770097051716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1208.0393428384182,
+            166.1094507302728,
+            43.0770097051716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1210.6374190497716,
+            164.6094507302728,
+            43.0770097051716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1213.235495261125,
+            163.1094507302728,
+            43.0770097051716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1215.8335714724783,
+            161.6094507302728,
+            43.0770097051716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1218.4316476838317,
+            160.1094507302728,
+            43.0770097051716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1221.029723895185,
+            158.6094507302728,
+            43.0770097051716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1223.6278001065384,
+            157.1094507302728,
+            43.0770097051716
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1223.6278001065384,
+            157.1094507302728,
+            43.0770097051716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1226.6278001065384,
+            157.1094507302728,
+            43.0770097051716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1229.6278001065384,
+            157.1094507302728,
+            43.0770097051716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1232.6278001065384,
+            157.1094507302728,
+            43.0770097051716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1235.6278001065384,
+            157.1094507302728,
+            43.0770097051716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1238.6278001065384,
+            157.1094507302728,
+            43.0770097051716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1241.6278001065384,
+            157.1094507302728,
+            43.0770097051716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1244.6278001065384,
+            157.1094507302728,
+            43.0770097051716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -1247.6278001065384,
+            157.1094507302728,
+            43.0770097051716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -1250.6278001065384,
+            157.1094507302728,
+            43.0770097051716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -1253.6278001065384,
+            157.1094507302728,
+            43.0770097051716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -1256.6278001065384,
+            157.1094507302728,
+            43.0770097051716
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -1259.6278001065384,
+            157.1094507302728,
+            43.0770097051716
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1308.0,
+            140.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_2-57-58_1788986238/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_2-57-58_1788986238/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..27e41ba3e0fb7eb94077a7d2c5ca39a2292bc498
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_2-57-58_1788986238/pose.jsonl
@@ -0,0 +1,197 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1717.5828251965108,
+            -659.3795201335379,
+            59.28262980386823
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1720.1809014078642,
+            -657.8795201335379,
+            59.28262980386823
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1722.7789776192176,
+            -656.3795201335379,
+            59.28262980386823
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1725.377053830571,
+            -654.8795201335379,
+            59.28262980386823
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1727.9751300419243,
+            -653.3795201335379,
+            59.28262980386823
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1730.5732062532777,
+            -651.8795201335379,
+            59.28262980386823
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1733.171282464631,
+            -650.3795201335379,
+            59.28262980386823
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1735.7693586759844,
+            -648.8795201335379,
+            59.28262980386823
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1738.3674348873378,
+            -647.3795201335379,
+            59.28262980386823
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1740.9655110986912,
+            -645.8795201335379,
+            59.28262980386823
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1743.5635873100446,
+            -644.3795201335379,
+            59.28262980386823
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1746.161663521398,
+            -642.8795201335379,
+            59.28262980386823
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1748.7597397327513,
+            -641.3795201335379,
+            59.28262980386823
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1751.3578159441047,
+            -639.8795201335379,
+            59.28262980386823
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1876.0,
+            -576.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_20-15-54_2069687307/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_20-15-54_2069687307/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4cfcc5fe2393d88d337aa52b208e77818fdbb785
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_20-15-54_2069687307/pose.jsonl
@@ -0,0 +1,509 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1249.257689663449,
+            -630.733543413505,
+            47.41337734159499
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1250.757689663449,
+            -628.1354672021516,
+            47.41337734159499
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1252.257689663449,
+            -625.5373909907983,
+            47.41337734159499
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1253.757689663449,
+            -622.9393147794449,
+            47.41337734159499
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1255.257689663449,
+            -620.3412385680915,
+            47.41337734159499
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1256.757689663449,
+            -617.7431623567381,
+            47.41337734159499
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1258.257689663449,
+            -615.1450861453848,
+            47.41337734159499
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1259.757689663449,
+            -612.5470099340314,
+            47.41337734159499
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1261.257689663449,
+            -609.948933722678,
+            47.41337734159499
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1262.757689663449,
+            -607.3508575113246,
+            47.41337734159499
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1264.257689663449,
+            -604.7527812999713,
+            47.41337734159499
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1265.757689663449,
+            -602.1547050886179,
+            47.41337734159499
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1267.257689663449,
+            -599.5566288772645,
+            47.41337734159499
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1268.757689663449,
+            -596.9585526659112,
+            47.41337734159499
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1270.257689663449,
+            -594.3604764545578,
+            47.41337734159499
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1271.757689663449,
+            -591.7624002432044,
+            47.41337734159499
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1273.257689663449,
+            -589.164324031851,
+            47.41337734159499
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1274.757689663449,
+            -586.5662478204977,
+            47.41337734159499
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1276.257689663449,
+            -583.9681716091443,
+            47.41337734159499
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1277.757689663449,
+            -581.3700953977909,
+            47.41337734159499
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1279.257689663449,
+            -578.7720191864375,
+            47.41337734159499
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1280.757689663449,
+            -576.1739429750842,
+            47.41337734159499
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1282.257689663449,
+            -573.5758667637308,
+            47.41337734159499
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1283.757689663449,
+            -570.9777905523774,
+            47.41337734159499
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1285.257689663449,
+            -568.379714341024,
+            47.41337734159499
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1286.757689663449,
+            -565.7816381296707,
+            47.41337734159499
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1288.257689663449,
+            -563.1835619183173,
+            47.41337734159499
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1289.757689663449,
+            -560.5854857069639,
+            47.41337734159499
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1291.257689663449,
+            -557.9874094956106,
+            47.41337734159499
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1292.757689663449,
+            -555.3893332842572,
+            47.41337734159499
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1292.757689663449,
+            -555.3893332842572,
+            47.41337734159499
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1292.757689663449,
+            -552.3893332842572,
+            47.41337734159499
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1292.757689663449,
+            -549.3893332842572,
+            47.41337734159499
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1292.757689663449,
+            -546.3893332842572,
+            47.41337734159499
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1292.757689663449,
+            -543.3893332842572,
+            47.41337734159499
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1292.757689663449,
+            -540.3893332842572,
+            47.41337734159499
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1292.757689663449,
+            -537.3893332842572,
+            47.41337734159499
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1292.757689663449,
+            -534.3893332842572,
+            47.41337734159499
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1312.0,
+            -488.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_20-42-9_1386847845/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_20-42-9_1386847845/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6635ac44b5d21cb2a38f571f5b2f88429acfeb29
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_20-42-9_1386847845/pose.jsonl
@@ -0,0 +1,535 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1162.1835522344938,
+            1676.6277480773604,
+            59.14697502498821
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1165.1835522344938,
+            1676.6277480773604,
+            59.14697502498821
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1168.1835522344938,
+            1676.6277480773604,
+            59.14697502498821
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1171.1835522344938,
+            1676.6277480773604,
+            59.14697502498821
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1174.1835522344938,
+            1676.6277480773604,
+            59.14697502498821
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1177.1835522344938,
+            1676.6277480773604,
+            59.14697502498821
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1180.1835522344938,
+            1676.6277480773604,
+            59.14697502498821
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1183.1835522344938,
+            1676.6277480773604,
+            59.14697502498821
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1186.1835522344938,
+            1676.6277480773604,
+            59.14697502498821
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1189.1835522344938,
+            1676.6277480773604,
+            59.14697502498821
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1192.1835522344938,
+            1676.6277480773604,
+            59.14697502498821
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1195.1835522344938,
+            1676.6277480773604,
+            59.14697502498821
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1198.1835522344938,
+            1676.6277480773604,
+            59.14697502498821
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1201.1835522344938,
+            1676.6277480773604,
+            59.14697502498821
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1204.1835522344938,
+            1676.6277480773604,
+            59.14697502498821
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1207.1835522344938,
+            1676.6277480773604,
+            59.14697502498821
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1210.1835522344938,
+            1676.6277480773604,
+            59.14697502498821
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1213.1835522344938,
+            1676.6277480773604,
+            59.14697502498821
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1216.1835522344938,
+            1676.6277480773604,
+            59.14697502498821
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1219.1835522344938,
+            1676.6277480773604,
+            59.14697502498821
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1222.1835522344938,
+            1676.6277480773604,
+            59.14697502498821
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1225.1835522344938,
+            1676.6277480773604,
+            59.14697502498821
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1228.1835522344938,
+            1676.6277480773604,
+            59.14697502498821
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1231.1835522344938,
+            1676.6277480773604,
+            59.14697502498821
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1234.1835522344938,
+            1676.6277480773604,
+            59.14697502498821
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1237.1835522344938,
+            1676.6277480773604,
+            59.14697502498821
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1240.1835522344938,
+            1676.6277480773604,
+            59.14697502498821
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1243.1835522344938,
+            1676.6277480773604,
+            59.14697502498821
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1246.1835522344938,
+            1676.6277480773604,
+            59.14697502498821
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1249.1835522344938,
+            1676.6277480773604,
+            59.14697502498821
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1252.1835522344938,
+            1676.6277480773604,
+            59.14697502498821
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1255.1835522344938,
+            1676.6277480773604,
+            59.14697502498821
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1258.1835522344938,
+            1676.6277480773604,
+            59.14697502498821
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1261.1835522344938,
+            1676.6277480773604,
+            59.14697502498821
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1261.1835522344938,
+            1676.6277480773604,
+            59.14697502498821
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1263.7816284458472,
+            1675.1277480773604,
+            59.14697502498821
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1266.3797046572006,
+            1673.6277480773604,
+            59.14697502498821
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1268.977780868554,
+            1672.1277480773604,
+            59.14697502498821
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1271.5758570799073,
+            1670.6277480773604,
+            59.14697502498821
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1274.1739332912607,
+            1669.1277480773604,
+            59.14697502498821
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1316.0,
+            1668.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_20-9-5_2101913295/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_20-9-5_2101913295/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..092d611b55cef6027661451bac7f2cd761bbb83c
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_20-9-5_2101913295/pose.jsonl
@@ -0,0 +1,509 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1307.0870113089202,
+            412.3454322631644,
+            63.96370622006604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1307.0870113089202,
+            409.3454322631644,
+            63.96370622006604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1307.0870113089202,
+            406.3454322631644,
+            63.96370622006604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1307.0870113089202,
+            403.3454322631644,
+            63.96370622006604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1307.0870113089202,
+            400.3454322631644,
+            63.96370622006604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1307.0870113089202,
+            397.3454322631644,
+            63.96370622006604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1307.0870113089202,
+            394.3454322631644,
+            63.96370622006604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1307.0870113089202,
+            391.3454322631644,
+            63.96370622006604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1307.0870113089202,
+            388.3454322631644,
+            63.96370622006604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1307.0870113089202,
+            385.3454322631644,
+            63.96370622006604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1307.0870113089202,
+            382.3454322631644,
+            63.96370622006604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1307.0870113089202,
+            379.3454322631644,
+            63.96370622006604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1307.0870113089202,
+            376.3454322631644,
+            63.96370622006604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1307.0870113089202,
+            373.3454322631644,
+            63.96370622006604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1307.0870113089202,
+            370.3454322631644,
+            63.96370622006604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1307.0870113089202,
+            367.3454322631644,
+            63.96370622006604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1307.0870113089202,
+            364.3454322631644,
+            63.96370622006604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1307.0870113089202,
+            361.3454322631644,
+            63.96370622006604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1307.0870113089202,
+            358.3454322631644,
+            63.96370622006604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1307.0870113089202,
+            355.3454322631644,
+            63.96370622006604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1307.0870113089202,
+            352.3454322631644,
+            63.96370622006604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1307.0870113089202,
+            349.3454322631644,
+            63.96370622006604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1307.0870113089202,
+            346.3454322631644,
+            63.96370622006604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1307.0870113089202,
+            343.3454322631644,
+            63.96370622006604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1307.0870113089202,
+            340.3454322631644,
+            63.96370622006604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1307.0870113089202,
+            337.3454322631644,
+            63.96370622006604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1307.0870113089202,
+            334.3454322631644,
+            63.96370622006604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1307.0870113089202,
+            331.3454322631644,
+            63.96370622006604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1307.0870113089202,
+            328.3454322631644,
+            63.96370622006604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1307.0870113089202,
+            325.3454322631644,
+            63.96370622006604
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1307.0870113089202,
+            325.3454322631644,
+            63.96370622006604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1308.5870113089202,
+            322.7473560518111,
+            63.96370622006604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1310.0870113089202,
+            320.1492798404578,
+            63.96370622006604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1311.5870113089202,
+            317.55120362910446,
+            63.96370622006604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1313.0870113089202,
+            314.95312741775115,
+            63.96370622006604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1314.5870113089202,
+            312.35505120639783,
+            63.96370622006604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1316.0870113089202,
+            309.7569749950445,
+            63.96370622006604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1317.5870113089202,
+            307.1588987836912,
+            63.96370622006604
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1324.0,
+            252.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_21-1-15_382402303/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_21-1-15_382402303/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0c2edfd4b6807978e516a53d995e38099378022a
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_21-1-15_382402303/pose.jsonl
@@ -0,0 +1,223 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -515.5209804143325,
+            1760.0265136976946,
+            54.29540216614425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -515.5209804143325,
+            1763.0265136976946,
+            54.29540216614425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -515.5209804143325,
+            1766.0265136976946,
+            54.29540216614425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -515.5209804143325,
+            1769.0265136976946,
+            54.29540216614425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -515.5209804143325,
+            1772.0265136976946,
+            54.29540216614425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -515.5209804143325,
+            1775.0265136976946,
+            54.29540216614425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -515.5209804143325,
+            1778.0265136976946,
+            54.29540216614425
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -515.5209804143325,
+            1778.0265136976946,
+            54.29540216614425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -517.0209804143325,
+            1780.624589909048,
+            54.29540216614425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -518.5209804143325,
+            1783.2226661204013,
+            54.29540216614425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -520.0209804143325,
+            1785.8207423317547,
+            54.29540216614425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -521.5209804143325,
+            1788.418818543108,
+            54.29540216614425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -523.0209804143325,
+            1791.0168947544614,
+            54.29540216614425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -524.5209804143325,
+            1793.6149709658148,
+            54.29540216614425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -526.0209804143325,
+            1796.2130471771682,
+            54.29540216614425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -527.5209804143325,
+            1798.8111233885215,
+            54.29540216614425
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -556.0,
+            1916.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_22-54-5_693807394/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_22-54-5_693807394/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e0a3d933deb4e54cc5288ee3302f975755d3e201
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_22-54-5_693807394/pose.jsonl
@@ -0,0 +1,730 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1334.709566951465,
+            681.0616625099217,
+            55.41139380924751
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1336.209566951465,
+            678.4635862985683,
+            55.41139380924751
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1337.709566951465,
+            675.865510087215,
+            55.41139380924751
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1339.209566951465,
+            673.2674338758616,
+            55.41139380924751
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1340.709566951465,
+            670.6693576645082,
+            55.41139380924751
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1342.209566951465,
+            668.0712814531548,
+            55.41139380924751
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1343.709566951465,
+            665.4732052418015,
+            55.41139380924751
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1345.209566951465,
+            662.8751290304481,
+            55.41139380924751
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1346.709566951465,
+            660.2770528190947,
+            55.41139380924751
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1348.209566951465,
+            657.6789766077413,
+            55.41139380924751
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1348.209566951465,
+            657.6789766077413,
+            55.41139380924751
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1350.8076431628183,
+            656.1789766077413,
+            55.41139380924751
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1353.4057193741717,
+            654.6789766077413,
+            55.41139380924751
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1356.003795585525,
+            653.1789766077413,
+            55.41139380924751
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1358.6018717968784,
+            651.6789766077413,
+            55.41139380924751
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1361.1999480082318,
+            650.1789766077413,
+            55.41139380924751
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1363.7980242195852,
+            648.6789766077413,
+            55.41139380924751
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1366.3961004309385,
+            647.1789766077413,
+            55.41139380924751
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1368.994176642292,
+            645.6789766077413,
+            55.41139380924751
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1371.5922528536453,
+            644.1789766077413,
+            55.41139380924751
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1374.1903290649987,
+            642.6789766077413,
+            55.41139380924751
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1376.788405276352,
+            641.1789766077413,
+            55.41139380924751
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1379.3864814877054,
+            639.6789766077413,
+            55.41139380924751
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1381.9845576990588,
+            638.1789766077413,
+            55.41139380924751
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1384.5826339104121,
+            636.6789766077413,
+            55.41139380924751
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1387.1807101217655,
+            635.1789766077413,
+            55.41139380924751
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1389.778786333119,
+            633.6789766077413,
+            55.41139380924751
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1392.3768625444723,
+            632.1789766077413,
+            55.41139380924751
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1394.9749387558256,
+            630.6789766077413,
+            55.41139380924751
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1397.573014967179,
+            629.1789766077413,
+            55.41139380924751
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1397.573014967179,
+            629.1789766077413,
+            55.41139380924751
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1399.073014967179,
+            626.580900396388,
+            55.41139380924751
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1400.573014967179,
+            623.9828241850346,
+            55.41139380924751
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1402.073014967179,
+            621.3847479736812,
+            55.41139380924751
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1403.573014967179,
+            618.7866717623278,
+            55.41139380924751
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1405.073014967179,
+            616.1885955509745,
+            55.41139380924751
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1406.573014967179,
+            613.5905193396211,
+            55.41139380924751
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1408.073014967179,
+            610.9924431282677,
+            55.41139380924751
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1409.573014967179,
+            608.3943669169144,
+            55.41139380924751
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1411.073014967179,
+            605.796290705561,
+            55.41139380924751
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1412.573014967179,
+            603.1982144942076,
+            55.41139380924751
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1414.073014967179,
+            600.6001382828542,
+            55.41139380924751
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1415.573014967179,
+            598.0020620715009,
+            55.41139380924751
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1417.073014967179,
+            595.4039858601475,
+            55.41139380924751
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1418.573014967179,
+            592.8059096487941,
+            55.41139380924751
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1420.073014967179,
+            590.2078334374407,
+            55.41139380924751
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1421.573014967179,
+            587.6097572260874,
+            55.41139380924751
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1423.073014967179,
+            585.011681014734,
+            55.41139380924751
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1424.573014967179,
+            582.4136048033806,
+            55.41139380924751
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1426.073014967179,
+            579.8155285920272,
+            55.41139380924751
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            1427.573014967179,
+            577.2174523806739,
+            55.41139380924751
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            1429.073014967179,
+            574.6193761693205,
+            55.41139380924751
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            1430.573014967179,
+            572.0212999579671,
+            55.41139380924751
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            1430.573014967179,
+            572.0212999579671,
+            55.41139380924751
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            1433.1710911785324,
+            570.5212999579671,
+            55.41139380924751
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1448.0,
+            556.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_23-0-49_1737517723/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_23-0-49_1737517723/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ca9c1b8c062bd988733cf4dd6be9a02310c18e85
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_23-0-49_1737517723/pose.jsonl
@@ -0,0 +1,314 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1650.586040035465,
+            464.80792650154103,
+            61.53030318859907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1652.086040035465,
+            462.2098502901877,
+            61.53030318859907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1653.586040035465,
+            459.6117740788344,
+            61.53030318859907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1655.086040035465,
+            457.0136978674811,
+            61.53030318859907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1656.586040035465,
+            454.41562165612777,
+            61.53030318859907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1658.086040035465,
+            451.81754544477445,
+            61.53030318859907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1659.586040035465,
+            449.21946923342114,
+            61.53030318859907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1661.086040035465,
+            446.6213930220678,
+            61.53030318859907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1662.586040035465,
+            444.0233168107145,
+            61.53030318859907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1664.086040035465,
+            441.4252405993612,
+            61.53030318859907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1665.586040035465,
+            438.8271643880079,
+            61.53030318859907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1667.086040035465,
+            436.22908817665456,
+            61.53030318859907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1668.586040035465,
+            433.63101196530124,
+            61.53030318859907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1670.086040035465,
+            431.0329357539479,
+            61.53030318859907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1671.586040035465,
+            428.4348595425946,
+            61.53030318859907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1673.086040035465,
+            425.8367833312413,
+            61.53030318859907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1674.586040035465,
+            423.238707119888,
+            61.53030318859907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1676.086040035465,
+            420.64063090853466,
+            61.53030318859907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1677.586040035465,
+            418.04255469718134,
+            61.53030318859907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1679.086040035465,
+            415.44447848582803,
+            61.53030318859907
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1679.086040035465,
+            415.44447848582803,
+            61.53030318859907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1681.6841162468183,
+            413.94447848582803,
+            61.53030318859907
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1684.2821924581717,
+            412.44447848582803,
+            61.53030318859907
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1744.0,
+            328.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_23-28-45_686863907/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_23-28-45_686863907/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..49b06133a3ee8b9da2f7c17bc8341f958a717a4b
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_23-28-45_686863907/pose.jsonl
@@ -0,0 +1,405 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1755.7372105649063,
+            1212.2499005499003,
+            50.05200101036645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1757.2372105649063,
+            1209.651824338547,
+            50.05200101036645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1758.7372105649063,
+            1207.0537481271936,
+            50.05200101036645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1760.2372105649063,
+            1204.4556719158402,
+            50.05200101036645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1761.7372105649063,
+            1201.8575957044868,
+            50.05200101036645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1763.2372105649063,
+            1199.2595194931334,
+            50.05200101036645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1764.7372105649063,
+            1196.66144328178,
+            50.05200101036645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1766.2372105649063,
+            1194.0633670704267,
+            50.05200101036645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1767.7372105649063,
+            1191.4652908590733,
+            50.05200101036645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1769.2372105649063,
+            1188.86721464772,
+            50.05200101036645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1770.7372105649063,
+            1186.2691384363666,
+            50.05200101036645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1772.2372105649063,
+            1183.6710622250132,
+            50.05200101036645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1773.7372105649063,
+            1181.0729860136598,
+            50.05200101036645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1775.2372105649063,
+            1178.4749098023065,
+            50.05200101036645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1776.7372105649063,
+            1175.876833590953,
+            50.05200101036645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1778.2372105649063,
+            1173.2787573795997,
+            50.05200101036645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1779.7372105649063,
+            1170.6806811682463,
+            50.05200101036645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1781.2372105649063,
+            1168.082604956893,
+            50.05200101036645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1782.7372105649063,
+            1165.4845287455396,
+            50.05200101036645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1784.2372105649063,
+            1162.8864525341862,
+            50.05200101036645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1785.7372105649063,
+            1160.2883763228328,
+            50.05200101036645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1787.2372105649063,
+            1157.6903001114795,
+            50.05200101036645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1788.7372105649063,
+            1155.092223900126,
+            50.05200101036645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1790.2372105649063,
+            1152.4941476887727,
+            50.05200101036645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1791.7372105649063,
+            1149.8960714774194,
+            50.05200101036645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1793.2372105649063,
+            1147.297995266066,
+            50.05200101036645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1794.7372105649063,
+            1144.6999190547126,
+            50.05200101036645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1796.2372105649063,
+            1142.1018428433592,
+            50.05200101036645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1797.7372105649063,
+            1139.5037666320059,
+            50.05200101036645
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1799.2372105649063,
+            1136.9056904206525,
+            50.05200101036645
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1840.0,
+            1076.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_23-53-50_488515260/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_23-53-50_488515260/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ccca4c43a8fad4b949a14400b60309c6c4fa8006
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_23-53-50_488515260/pose.jsonl
@@ -0,0 +1,639 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1639.5253456952614,
+            632.9489240069311,
+            69.60738408730595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1642.5253456952614,
+            632.9489240069311,
+            69.60738408730595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1645.5253456952614,
+            632.9489240069311,
+            69.60738408730595
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1645.5253456952614,
+            632.9489240069311,
+            69.60738408730595
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1645.5253456952614,
+            632.9489240069311,
+            69.60738408730595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1647.0253456952614,
+            635.5470002182844,
+            69.60738408730595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1648.5253456952614,
+            638.1450764296378,
+            69.60738408730595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1650.0253456952614,
+            640.7431526409912,
+            69.60738408730595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1651.5253456952614,
+            643.3412288523446,
+            69.60738408730595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1653.0253456952614,
+            645.9393050636979,
+            69.60738408730595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1654.5253456952614,
+            648.5373812750513,
+            69.60738408730595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1656.0253456952614,
+            651.1354574864047,
+            69.60738408730595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1657.5253456952614,
+            653.733533697758,
+            69.60738408730595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1659.0253456952614,
+            656.3316099091114,
+            69.60738408730595
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1659.0253456952614,
+            656.3316099091114,
+            69.60738408730595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1659.0253456952614,
+            659.3316099091114,
+            69.60738408730595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1659.0253456952614,
+            662.3316099091114,
+            69.60738408730595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1659.0253456952614,
+            665.3316099091114,
+            69.60738408730595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1659.0253456952614,
+            668.3316099091114,
+            69.60738408730595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1659.0253456952614,
+            671.3316099091114,
+            69.60738408730595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1659.0253456952614,
+            674.3316099091114,
+            69.60738408730595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1659.0253456952614,
+            677.3316099091114,
+            69.60738408730595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1659.0253456952614,
+            680.3316099091114,
+            69.60738408730595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1659.0253456952614,
+            683.3316099091114,
+            69.60738408730595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1659.0253456952614,
+            686.3316099091114,
+            69.60738408730595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1659.0253456952614,
+            689.3316099091114,
+            69.60738408730595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1659.0253456952614,
+            692.3316099091114,
+            69.60738408730595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1659.0253456952614,
+            695.3316099091114,
+            69.60738408730595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1659.0253456952614,
+            698.3316099091114,
+            69.60738408730595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1659.0253456952614,
+            701.3316099091114,
+            69.60738408730595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1659.0253456952614,
+            704.3316099091114,
+            69.60738408730595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1659.0253456952614,
+            707.3316099091114,
+            69.60738408730595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1659.0253456952614,
+            710.3316099091114,
+            69.60738408730595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1659.0253456952614,
+            713.3316099091114,
+            69.60738408730595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1659.0253456952614,
+            716.3316099091114,
+            69.60738408730595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1659.0253456952614,
+            719.3316099091114,
+            69.60738408730595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1659.0253456952614,
+            722.3316099091114,
+            69.60738408730595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1659.0253456952614,
+            725.3316099091114,
+            69.60738408730595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1659.0253456952614,
+            728.3316099091114,
+            69.60738408730595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1659.0253456952614,
+            731.3316099091114,
+            69.60738408730595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1659.0253456952614,
+            734.3316099091114,
+            69.60738408730595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1659.0253456952614,
+            737.3316099091114,
+            69.60738408730595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1659.0253456952614,
+            740.3316099091114,
+            69.60738408730595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1659.0253456952614,
+            743.3316099091114,
+            69.60738408730595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1659.0253456952614,
+            746.3316099091114,
+            69.60738408730595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1659.0253456952614,
+            749.3316099091114,
+            69.60738408730595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1659.0253456952614,
+            752.3316099091114,
+            69.60738408730595
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1659.0253456952614,
+            755.3316099091114,
+            69.60738408730595
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1664.0,
+            784.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_3-12-38_1443145325/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_3-12-38_1443145325/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5c822a037c5905926842fe121c3ab9486d08d6b5
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_3-12-38_1443145325/pose.jsonl
@@ -0,0 +1,665 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1691.5565495168676,
+            -419.9266910825262,
+            62.47179735528069
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1693.0565495168676,
+            -422.5247672938795,
+            62.47179735528069
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1694.5565495168676,
+            -425.1228435052328,
+            62.47179735528069
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1696.0565495168676,
+            -427.72091971658614,
+            62.47179735528069
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1697.5565495168676,
+            -430.31899592793945,
+            62.47179735528069
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1699.0565495168676,
+            -432.91707213929277,
+            62.47179735528069
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1700.5565495168676,
+            -435.5151483506461,
+            62.47179735528069
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1702.0565495168676,
+            -438.1132245619994,
+            62.47179735528069
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1703.5565495168676,
+            -440.7113007733527,
+            62.47179735528069
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1705.0565495168676,
+            -443.30937698470603,
+            62.47179735528069
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1706.5565495168676,
+            -445.90745319605935,
+            62.47179735528069
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1708.0565495168676,
+            -448.50552940741267,
+            62.47179735528069
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1709.5565495168676,
+            -451.103605618766,
+            62.47179735528069
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1711.0565495168676,
+            -453.7016818301193,
+            62.47179735528069
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1712.5565495168676,
+            -456.2997580414726,
+            62.47179735528069
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1714.0565495168676,
+            -458.89783425282593,
+            62.47179735528069
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1715.5565495168676,
+            -461.49591046417925,
+            62.47179735528069
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1717.0565495168676,
+            -464.09398667553256,
+            62.47179735528069
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1718.5565495168676,
+            -466.6920628868859,
+            62.47179735528069
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1720.0565495168676,
+            -469.2901390982392,
+            62.47179735528069
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1721.5565495168676,
+            -471.8882153095925,
+            62.47179735528069
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1723.0565495168676,
+            -474.4862915209458,
+            62.47179735528069
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1724.5565495168676,
+            -477.08436773229914,
+            62.47179735528069
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1726.0565495168676,
+            -479.68244394365246,
+            62.47179735528069
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1727.5565495168676,
+            -482.2805201550058,
+            62.47179735528069
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1729.0565495168676,
+            -484.8785963663591,
+            62.47179735528069
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1730.5565495168676,
+            -487.4766725777124,
+            62.47179735528069
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1732.0565495168676,
+            -490.0747487890657,
+            62.47179735528069
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1733.5565495168676,
+            -492.67282500041904,
+            62.47179735528069
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1735.0565495168676,
+            -495.27090121177235,
+            62.47179735528069
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1736.5565495168676,
+            -497.86897742312567,
+            62.47179735528069
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1738.0565495168676,
+            -500.467053634479,
+            62.47179735528069
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1739.5565495168676,
+            -503.0651298458323,
+            62.47179735528069
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1741.0565495168676,
+            -505.6632060571856,
+            62.47179735528069
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1741.0565495168676,
+            -505.6632060571856,
+            62.47179735528069
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1743.654625728221,
+            -507.1632060571856,
+            62.47179735528069
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1746.2527019395743,
+            -508.6632060571856,
+            62.47179735528069
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1748.8507781509277,
+            -510.1632060571856,
+            62.47179735528069
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1751.448854362281,
+            -511.6632060571856,
+            62.47179735528069
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1754.0469305736344,
+            -513.1632060571856,
+            62.47179735528069
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.61799387799152
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -1756.6450067849878,
+            -514.6632060571856,
+            62.47179735528069
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -1759.2430829963412,
+            -516.1632060571856,
+            62.47179735528069
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -1761.8411592076945,
+            -517.6632060571856,
+            62.47179735528069
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -1764.439235419048,
+            -519.1632060571856,
+            62.47179735528069
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -1764.439235419048,
+            -519.1632060571856,
+            62.47179735528069
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -1765.939235419048,
+            -521.7612822685389,
+            62.47179735528069
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -1767.439235419048,
+            -524.3593584798923,
+            62.47179735528069
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -1768.939235419048,
+            -526.9574346912457,
+            62.47179735528069
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -1770.439235419048,
+            -529.555510902599,
+            62.47179735528069
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -1771.939235419048,
+            -532.1535871139524,
+            62.47179735528069
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1784.0,
+            -548.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_3-33-18_2008532428/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_3-33-18_2008532428/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..dba370b3ed8c7d13f88dde7f0d8f1e3b262bc6af
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_3-33-18_2008532428/pose.jsonl
@@ -0,0 +1,678 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            406.38082787608556,
+            324.0860568309057,
+            40.51840593585601
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            409.38082787608556,
+            324.0860568309057,
+            40.51840593585601
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            412.38082787608556,
+            324.0860568309057,
+            40.51840593585601
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            415.38082787608556,
+            324.0860568309057,
+            40.51840593585601
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            418.38082787608556,
+            324.0860568309057,
+            40.51840593585601
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            421.38082787608556,
+            324.0860568309057,
+            40.51840593585601
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            424.38082787608556,
+            324.0860568309057,
+            40.51840593585601
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            427.38082787608556,
+            324.0860568309057,
+            40.51840593585601
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            430.38082787608556,
+            324.0860568309057,
+            40.51840593585601
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            433.38082787608556,
+            324.0860568309057,
+            40.51840593585601
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            436.38082787608556,
+            324.0860568309057,
+            40.51840593585601
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            439.38082787608556,
+            324.0860568309057,
+            40.51840593585601
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            442.38082787608556,
+            324.0860568309057,
+            40.51840593585601
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            445.38082787608556,
+            324.0860568309057,
+            40.51840593585601
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            448.38082787608556,
+            324.0860568309057,
+            40.51840593585601
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            451.38082787608556,
+            324.0860568309057,
+            40.51840593585601
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            454.38082787608556,
+            324.0860568309057,
+            40.51840593585601
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            457.38082787608556,
+            324.0860568309057,
+            40.51840593585601
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            460.38082787608556,
+            324.0860568309057,
+            40.51840593585601
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            463.38082787608556,
+            324.0860568309057,
+            40.51840593585601
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            466.38082787608556,
+            324.0860568309057,
+            40.51840593585601
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            469.38082787608556,
+            324.0860568309057,
+            40.51840593585601
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            472.38082787608556,
+            324.0860568309057,
+            40.51840593585601
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            475.38082787608556,
+            324.0860568309057,
+            40.51840593585601
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            478.38082787608556,
+            324.0860568309057,
+            40.51840593585601
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            478.38082787608556,
+            324.0860568309057,
+            40.51840593585601
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            480.9789040874389,
+            322.5860568309057,
+            40.51840593585601
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            483.5769802987922,
+            321.0860568309057,
+            40.51840593585601
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            486.1750565101455,
+            319.5860568309057,
+            40.51840593585601
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            488.7731327214988,
+            318.0860568309057,
+            40.51840593585601
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            491.37120893285214,
+            316.5860568309057,
+            40.51840593585601
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            493.96928514420546,
+            315.0860568309057,
+            40.51840593585601
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            496.5673613555588,
+            313.5860568309057,
+            40.51840593585601
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            499.1654375669121,
+            312.0860568309057,
+            40.51840593585601
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            501.7635137782654,
+            310.5860568309057,
+            40.51840593585601
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            504.3615899896187,
+            309.0860568309057,
+            40.51840593585601
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            506.95966620097204,
+            307.5860568309057,
+            40.51840593585601
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            509.55774241232535,
+            306.0860568309057,
+            40.51840593585601
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            512.1558186236787,
+            304.5860568309057,
+            40.51840593585601
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            514.753894835032,
+            303.0860568309057,
+            40.51840593585601
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            517.3519710463854,
+            301.5860568309057,
+            40.51840593585601
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            519.9500472577388,
+            300.0860568309057,
+            40.51840593585601
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            522.5481234690922,
+            298.5860568309057,
+            40.51840593585601
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            525.1461996804455,
+            297.0860568309057,
+            40.51840593585601
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            527.7442758917989,
+            295.5860568309057,
+            40.51840593585601
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            530.3423521031523,
+            294.0860568309057,
+            40.51840593585601
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            532.9404283145057,
+            292.5860568309057,
+            40.51840593585601
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            535.538504525859,
+            291.0860568309057,
+            40.51840593585601
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            538.1365807372124,
+            289.5860568309057,
+            40.51840593585601
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            540.7346569485658,
+            288.0860568309057,
+            40.51840593585601
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            543.3327331599191,
+            286.5860568309057,
+            40.51840593585601
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            560.0,
+            280.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_3-55-48_372315265/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_3-55-48_372315265/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a0dd800442c7591281df0ebaa6fc7fe9d2e1fc27
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_3-55-48_372315265/pose.jsonl
@@ -0,0 +1,704 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -435.7667494837734,
+            -1293.451389772754,
+            43.27716774535558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -435.7667494837734,
+            -1296.451389772754,
+            43.27716774535558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -435.7667494837734,
+            -1299.451389772754,
+            43.27716774535558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -435.7667494837734,
+            -1302.451389772754,
+            43.27716774535558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -435.7667494837734,
+            -1305.451389772754,
+            43.27716774535558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -435.7667494837734,
+            -1308.451389772754,
+            43.27716774535558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -435.7667494837734,
+            -1311.451389772754,
+            43.27716774535558
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -435.7667494837734,
+            -1311.451389772754,
+            43.27716774535558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -434.2667494837734,
+            -1314.0494659841074,
+            43.27716774535558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -432.7667494837734,
+            -1316.6475421954608,
+            43.27716774535558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -431.2667494837734,
+            -1319.2456184068142,
+            43.27716774535558
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -431.2667494837734,
+            -1319.2456184068142,
+            43.27716774535558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -431.2667494837734,
+            -1322.2456184068142,
+            43.27716774535558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -431.2667494837734,
+            -1325.2456184068142,
+            43.27716774535558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -431.2667494837734,
+            -1328.2456184068142,
+            43.27716774535558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -431.2667494837734,
+            -1331.2456184068142,
+            43.27716774535558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -431.2667494837734,
+            -1334.2456184068142,
+            43.27716774535558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -431.2667494837734,
+            -1337.2456184068142,
+            43.27716774535558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -431.2667494837734,
+            -1340.2456184068142,
+            43.27716774535558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -431.2667494837734,
+            -1343.2456184068142,
+            43.27716774535558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -431.2667494837734,
+            -1346.2456184068142,
+            43.27716774535558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -431.2667494837734,
+            -1349.2456184068142,
+            43.27716774535558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -431.2667494837734,
+            -1352.2456184068142,
+            43.27716774535558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -431.2667494837734,
+            -1355.2456184068142,
+            43.27716774535558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -431.2667494837734,
+            -1358.2456184068142,
+            43.27716774535558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -431.2667494837734,
+            -1361.2456184068142,
+            43.27716774535558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -431.2667494837734,
+            -1364.2456184068142,
+            43.27716774535558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -431.2667494837734,
+            -1367.2456184068142,
+            43.27716774535558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -431.2667494837734,
+            -1370.2456184068142,
+            43.27716774535558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -431.2667494837734,
+            -1373.2456184068142,
+            43.27716774535558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -431.2667494837734,
+            -1376.2456184068142,
+            43.27716774535558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -431.2667494837734,
+            -1379.2456184068142,
+            43.27716774535558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -431.2667494837734,
+            -1382.2456184068142,
+            43.27716774535558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -431.2667494837734,
+            -1385.2456184068142,
+            43.27716774535558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -431.2667494837734,
+            -1388.2456184068142,
+            43.27716774535558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -431.2667494837734,
+            -1391.2456184068142,
+            43.27716774535558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -431.2667494837734,
+            -1394.2456184068142,
+            43.27716774535558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -431.2667494837734,
+            -1397.2456184068142,
+            43.27716774535558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -431.2667494837734,
+            -1400.2456184068142,
+            43.27716774535558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -431.2667494837734,
+            -1403.2456184068142,
+            43.27716774535558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -431.2667494837734,
+            -1406.2456184068142,
+            43.27716774535558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -431.2667494837734,
+            -1409.2456184068142,
+            43.27716774535558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -431.2667494837734,
+            -1412.2456184068142,
+            43.27716774535558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -431.2667494837734,
+            -1415.2456184068142,
+            43.27716774535558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -431.2667494837734,
+            -1418.2456184068142,
+            43.27716774535558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -431.2667494837734,
+            -1421.2456184068142,
+            43.27716774535558
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -431.2667494837734,
+            -1421.2456184068142,
+            43.27716774535558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -432.7667494837734,
+            -1423.8436946181675,
+            43.27716774535558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -434.2667494837734,
+            -1426.441770829521,
+            43.27716774535558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -435.7667494837734,
+            -1429.0398470408743,
+            43.27716774535558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -437.2667494837734,
+            -1431.6379232522277,
+            43.27716774535558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -438.7667494837734,
+            -1434.235999463581,
+            43.27716774535558
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -440.2667494837734,
+            -1436.8340756749344,
+            43.27716774535558
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -444.0,
+            -1460.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_3-58-38_1075259134/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_3-58-38_1075259134/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ed3a6df30c6cf6abc359fe1a7118115999546b88
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_3-58-38_1075259134/pose.jsonl
@@ -0,0 +1,704 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1679.2184967046805,
+            1308.3373017787508,
+            53.75051827495949
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1679.2184967046805,
+            1305.3373017787508,
+            53.75051827495949
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1679.2184967046805,
+            1302.3373017787508,
+            53.75051827495949
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1679.2184967046805,
+            1299.3373017787508,
+            53.75051827495949
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1679.2184967046805,
+            1296.3373017787508,
+            53.75051827495949
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1679.2184967046805,
+            1293.3373017787508,
+            53.75051827495949
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1679.2184967046805,
+            1290.3373017787508,
+            53.75051827495949
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1679.2184967046805,
+            1287.3373017787508,
+            53.75051827495949
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1679.2184967046805,
+            1284.3373017787508,
+            53.75051827495949
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1679.2184967046805,
+            1281.3373017787508,
+            53.75051827495949
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1679.2184967046805,
+            1278.3373017787508,
+            53.75051827495949
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1679.2184967046805,
+            1275.3373017787508,
+            53.75051827495949
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1679.2184967046805,
+            1272.3373017787508,
+            53.75051827495949
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1679.2184967046805,
+            1269.3373017787508,
+            53.75051827495949
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1679.2184967046805,
+            1266.3373017787508,
+            53.75051827495949
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1679.2184967046805,
+            1263.3373017787508,
+            53.75051827495949
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1679.2184967046805,
+            1260.3373017787508,
+            53.75051827495949
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1679.2184967046805,
+            1257.3373017787508,
+            53.75051827495949
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1679.2184967046805,
+            1254.3373017787508,
+            53.75051827495949
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1679.2184967046805,
+            1251.3373017787508,
+            53.75051827495949
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1679.2184967046805,
+            1248.3373017787508,
+            53.75051827495949
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1679.2184967046805,
+            1245.3373017787508,
+            53.75051827495949
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1679.2184967046805,
+            1242.3373017787508,
+            53.75051827495949
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1679.2184967046805,
+            1239.3373017787508,
+            53.75051827495949
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1679.2184967046805,
+            1236.3373017787508,
+            53.75051827495949
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1679.2184967046805,
+            1233.3373017787508,
+            53.75051827495949
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1679.2184967046805,
+            1230.3373017787508,
+            53.75051827495949
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1679.2184967046805,
+            1227.3373017787508,
+            53.75051827495949
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1679.2184967046805,
+            1224.3373017787508,
+            53.75051827495949
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1679.2184967046805,
+            1221.3373017787508,
+            53.75051827495949
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1679.2184967046805,
+            1218.3373017787508,
+            53.75051827495949
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1679.2184967046805,
+            1215.3373017787508,
+            53.75051827495949
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1679.2184967046805,
+            1212.3373017787508,
+            53.75051827495949
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1679.2184967046805,
+            1209.3373017787508,
+            53.75051827495949
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1679.2184967046805,
+            1206.3373017787508,
+            53.75051827495949
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1679.2184967046805,
+            1203.3373017787508,
+            53.75051827495949
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1679.2184967046805,
+            1200.3373017787508,
+            53.75051827495949
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1679.2184967046805,
+            1197.3373017787508,
+            53.75051827495949
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1679.2184967046805,
+            1194.3373017787508,
+            53.75051827495949
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1679.2184967046805,
+            1191.3373017787508,
+            53.75051827495949
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -1679.2184967046805,
+            1188.3373017787508,
+            53.75051827495949
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -1679.2184967046805,
+            1185.3373017787508,
+            53.75051827495949
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -1679.2184967046805,
+            1182.3373017787508,
+            53.75051827495949
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -1679.2184967046805,
+            1179.3373017787508,
+            53.75051827495949
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -1679.2184967046805,
+            1176.3373017787508,
+            53.75051827495949
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -1679.2184967046805,
+            1173.3373017787508,
+            53.75051827495949
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -1679.2184967046805,
+            1173.3373017787508,
+            53.75051827495949
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -1680.7184967046805,
+            1170.7392255673974,
+            53.75051827495949
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -1682.2184967046805,
+            1168.141149356044,
+            53.75051827495949
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -1683.7184967046805,
+            1165.5430731446907,
+            53.75051827495949
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -1685.2184967046805,
+            1162.9449969333373,
+            53.75051827495949
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -1686.7184967046805,
+            1160.346920721984,
+            53.75051827495949
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -1688.2184967046805,
+            1157.7488445106305,
+            53.75051827495949
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1688.0,
+            1144.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_4-29-43_1304352949/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_4-29-43_1304352949/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..38f5ad9c7d31c040988e5257b0037852f0cc0dab
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_4-29-43_1304352949/pose.jsonl
@@ -0,0 +1,587 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -915.765905600941,
+            -1081.6932118571065,
+            56.755510762824414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -918.3639818122942,
+            -1080.1932118571065,
+            56.755510762824414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -920.9620580236476,
+            -1078.6932118571065,
+            56.755510762824414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -923.560134235001,
+            -1077.1932118571065,
+            56.755510762824414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -926.1582104463544,
+            -1075.6932118571065,
+            56.755510762824414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -928.7562866577077,
+            -1074.1932118571065,
+            56.755510762824414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -931.3543628690611,
+            -1072.6932118571065,
+            56.755510762824414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -933.9524390804145,
+            -1071.1932118571065,
+            56.755510762824414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -936.5505152917679,
+            -1069.6932118571065,
+            56.755510762824414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -939.1485915031212,
+            -1068.1932118571065,
+            56.755510762824414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -941.7466677144746,
+            -1066.6932118571065,
+            56.755510762824414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -944.344743925828,
+            -1065.1932118571065,
+            56.755510762824414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -946.9428201371813,
+            -1063.6932118571065,
+            56.755510762824414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -949.5408963485347,
+            -1062.1932118571065,
+            56.755510762824414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -952.1389725598881,
+            -1060.6932118571065,
+            56.755510762824414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -954.7370487712415,
+            -1059.1932118571065,
+            56.755510762824414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -957.3351249825948,
+            -1057.6932118571065,
+            56.755510762824414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -959.9332011939482,
+            -1056.1932118571065,
+            56.755510762824414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -962.5312774053016,
+            -1054.6932118571065,
+            56.755510762824414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -965.129353616655,
+            -1053.1932118571065,
+            56.755510762824414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -967.7274298280083,
+            -1051.6932118571065,
+            56.755510762824414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -970.3255060393617,
+            -1050.1932118571065,
+            56.755510762824414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -972.9235822507151,
+            -1048.6932118571065,
+            56.755510762824414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -975.5216584620684,
+            -1047.1932118571065,
+            56.755510762824414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -978.1197346734218,
+            -1045.6932118571065,
+            56.755510762824414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -980.7178108847752,
+            -1044.1932118571065,
+            56.755510762824414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -983.3158870961286,
+            -1042.6932118571065,
+            56.755510762824414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -985.9139633074819,
+            -1041.1932118571065,
+            56.755510762824414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -988.5120395188353,
+            -1039.6932118571065,
+            56.755510762824414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -991.1101157301887,
+            -1038.1932118571065,
+            56.755510762824414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -993.708191941542,
+            -1036.6932118571065,
+            56.755510762824414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -996.3062681528954,
+            -1035.1932118571065,
+            56.755510762824414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -998.9043443642488,
+            -1033.6932118571065,
+            56.755510762824414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1001.5024205756022,
+            -1032.1932118571065,
+            56.755510762824414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1004.1004967869555,
+            -1030.6932118571065,
+            56.755510762824414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1006.6985729983089,
+            -1029.1932118571065,
+            56.755510762824414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1009.2966492096623,
+            -1027.6932118571065,
+            56.755510762824414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1011.8947254210157,
+            -1026.1932118571065,
+            56.755510762824414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1014.492801632369,
+            -1024.6932118571065,
+            56.755510762824414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1017.0908778437224,
+            -1023.1932118571065,
+            56.755510762824414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -1019.6889540550758,
+            -1021.6932118571065,
+            56.755510762824414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -1022.2870302664292,
+            -1020.1932118571065,
+            56.755510762824414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -1024.8851064777825,
+            -1018.6932118571065,
+            56.755510762824414
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -1027.483182689136,
+            -1017.1932118571065,
+            56.755510762824414
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1048.0,
+            -1004.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_4-54-48_1723705710/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_4-54-48_1723705710/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..945a7297729fd798014e6aaa392785b3060b04d1
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_4-54-48_1723705710/pose.jsonl
@@ -0,0 +1,600 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1210.8498620635908,
+            -1620.6415860412476,
+            53.46527040620413
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1210.8498620635908,
+            -1623.6415860412476,
+            53.46527040620413
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1210.8498620635908,
+            -1626.6415860412476,
+            53.46527040620413
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1210.8498620635908,
+            -1629.6415860412476,
+            53.46527040620413
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1210.8498620635908,
+            -1632.6415860412476,
+            53.46527040620413
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1210.8498620635908,
+            -1635.6415860412476,
+            53.46527040620413
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1210.8498620635908,
+            -1638.6415860412476,
+            53.46527040620413
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1210.8498620635908,
+            -1641.6415860412476,
+            53.46527040620413
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1210.8498620635908,
+            -1644.6415860412476,
+            53.46527040620413
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1210.8498620635908,
+            -1647.6415860412476,
+            53.46527040620413
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1210.8498620635908,
+            -1650.6415860412476,
+            53.46527040620413
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1210.8498620635908,
+            -1653.6415860412476,
+            53.46527040620413
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1210.8498620635908,
+            -1656.6415860412476,
+            53.46527040620413
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1210.8498620635908,
+            -1659.6415860412476,
+            53.46527040620413
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1210.8498620635908,
+            -1662.6415860412476,
+            53.46527040620413
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1210.8498620635908,
+            -1665.6415860412476,
+            53.46527040620413
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1210.8498620635908,
+            -1668.6415860412476,
+            53.46527040620413
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1210.8498620635908,
+            -1671.6415860412476,
+            53.46527040620413
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1210.8498620635908,
+            -1674.6415860412476,
+            53.46527040620413
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1210.8498620635908,
+            -1677.6415860412476,
+            53.46527040620413
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1210.8498620635908,
+            -1680.6415860412476,
+            53.46527040620413
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1210.8498620635908,
+            -1683.6415860412476,
+            53.46527040620413
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1210.8498620635908,
+            -1683.6415860412476,
+            53.46527040620413
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1209.3498620635908,
+            -1686.239662252601,
+            53.46527040620413
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1207.8498620635908,
+            -1688.8377384639543,
+            53.46527040620413
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1206.3498620635908,
+            -1691.4358146753077,
+            53.46527040620413
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1204.8498620635908,
+            -1694.033890886661,
+            53.46527040620413
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1203.3498620635908,
+            -1696.6319670980145,
+            53.46527040620413
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1201.8498620635908,
+            -1699.2300433093678,
+            53.46527040620413
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1200.3498620635908,
+            -1701.8281195207212,
+            53.46527040620413
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1198.8498620635908,
+            -1704.4261957320746,
+            53.46527040620413
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1197.3498620635908,
+            -1707.024271943428,
+            53.46527040620413
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1195.8498620635908,
+            -1709.6223481547813,
+            53.46527040620413
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1194.3498620635908,
+            -1712.2204243661347,
+            53.46527040620413
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1192.8498620635908,
+            -1714.818500577488,
+            53.46527040620413
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1191.3498620635908,
+            -1717.4165767888414,
+            53.46527040620413
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1189.8498620635908,
+            -1720.0146530001948,
+            53.46527040620413
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1188.3498620635908,
+            -1722.6127292115482,
+            53.46527040620413
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1186.8498620635908,
+            -1725.2108054229016,
+            53.46527040620413
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1185.3498620635908,
+            -1727.808881634255,
+            53.46527040620413
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1183.8498620635908,
+            -1730.4069578456083,
+            53.46527040620413
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1182.3498620635908,
+            -1733.0050340569617,
+            53.46527040620413
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1180.8498620635908,
+            -1735.603110268315,
+            53.46527040620413
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1179.3498620635908,
+            -1738.2011864796684,
+            53.46527040620413
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1177.8498620635908,
+            -1740.7992626910218,
+            53.46527040620413
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1172.0,
+            -1772.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_5-19-1_209419369/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_5-19-1_209419369/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bafef4056c6c738914b9027e20f336efc27bacd5
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_5-19-1_209419369/pose.jsonl
@@ -0,0 +1,444 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -166.6678776008426,
+            510.78934569032185,
+            67.87928095115431
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -165.1678776008426,
+            508.19126947896854,
+            67.87928095115431
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -163.6678776008426,
+            505.5931932676152,
+            67.87928095115431
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -162.1678776008426,
+            502.9951170562619,
+            67.87928095115431
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -160.6678776008426,
+            500.3970408449086,
+            67.87928095115431
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -159.1678776008426,
+            497.7989646335553,
+            67.87928095115431
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -157.6678776008426,
+            495.20088842220196,
+            67.87928095115431
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -156.1678776008426,
+            492.60281221084864,
+            67.87928095115431
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -154.6678776008426,
+            490.0047359994953,
+            67.87928095115431
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -153.1678776008426,
+            487.406659788142,
+            67.87928095115431
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -151.6678776008426,
+            484.8085835767887,
+            67.87928095115431
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -150.1678776008426,
+            482.2105073654354,
+            67.87928095115431
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -148.6678776008426,
+            479.61243115408206,
+            67.87928095115431
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -148.6678776008426,
+            479.61243115408206,
+            67.87928095115431
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -148.6678776008426,
+            476.61243115408206,
+            67.87928095115431
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -148.6678776008426,
+            473.61243115408206,
+            67.87928095115431
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -148.6678776008426,
+            470.61243115408206,
+            67.87928095115431
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -148.6678776008426,
+            467.61243115408206,
+            67.87928095115431
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -148.6678776008426,
+            464.61243115408206,
+            67.87928095115431
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -148.6678776008426,
+            461.61243115408206,
+            67.87928095115431
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -148.6678776008426,
+            458.61243115408206,
+            67.87928095115431
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -148.6678776008426,
+            455.61243115408206,
+            67.87928095115431
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -148.6678776008426,
+            452.61243115408206,
+            67.87928095115431
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -148.6678776008426,
+            449.61243115408206,
+            67.87928095115431
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -148.6678776008426,
+            446.61243115408206,
+            67.87928095115431
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -148.6678776008426,
+            443.61243115408206,
+            67.87928095115431
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -148.6678776008426,
+            440.61243115408206,
+            67.87928095115431
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -148.6678776008426,
+            440.61243115408206,
+            67.87928095115431
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -147.1678776008426,
+            438.01435494272874,
+            67.87928095115431
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -145.6678776008426,
+            435.4162787313754,
+            67.87928095115431
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -144.1678776008426,
+            432.8182025200221,
+            67.87928095115431
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -142.6678776008426,
+            430.2201263086688,
+            67.87928095115431
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -141.1678776008426,
+            427.6220500973155,
+            67.87928095115431
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -120.0,
+            356.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_5-56-53_1171142496/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_5-56-53_1171142496/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ecff3b0ef22b8ab4067c32ae7eb10d423db52be9
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_5-56-53_1171142496/pose.jsonl
@@ -0,0 +1,574 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1308.8207911401878,
+            1108.9455545856554,
+            55.14858478523364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1306.2227149288344,
+            1110.4455545856554,
+            55.14858478523364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1303.624638717481,
+            1111.9455545856554,
+            55.14858478523364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1301.0265625061277,
+            1113.4455545856554,
+            55.14858478523364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1298.4284862947743,
+            1114.9455545856554,
+            55.14858478523364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1295.830410083421,
+            1116.4455545856554,
+            55.14858478523364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1293.2323338720676,
+            1117.9455545856554,
+            55.14858478523364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1290.6342576607142,
+            1119.4455545856554,
+            55.14858478523364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1288.0361814493608,
+            1120.9455545856554,
+            55.14858478523364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1285.4381052380074,
+            1122.4455545856554,
+            55.14858478523364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1282.840029026654,
+            1123.9455545856554,
+            55.14858478523364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1280.2419528153007,
+            1125.4455545856554,
+            55.14858478523364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1277.6438766039473,
+            1126.9455545856554,
+            55.14858478523364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1275.045800392594,
+            1128.4455545856554,
+            55.14858478523364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1272.4477241812406,
+            1129.9455545856554,
+            55.14858478523364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1269.8496479698872,
+            1131.4455545856554,
+            55.14858478523364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1267.2515717585338,
+            1132.9455545856554,
+            55.14858478523364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1264.6534955471805,
+            1134.4455545856554,
+            55.14858478523364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1262.055419335827,
+            1135.9455545856554,
+            55.14858478523364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1259.4573431244737,
+            1137.4455545856554,
+            55.14858478523364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1256.8592669131203,
+            1138.9455545856554,
+            55.14858478523364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1254.261190701767,
+            1140.4455545856554,
+            55.14858478523364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1251.6631144904136,
+            1141.9455545856554,
+            55.14858478523364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1249.0650382790602,
+            1143.4455545856554,
+            55.14858478523364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1246.4669620677068,
+            1144.9455545856554,
+            55.14858478523364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1243.8688858563535,
+            1146.4455545856554,
+            55.14858478523364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1241.270809645,
+            1147.9455545856554,
+            55.14858478523364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1238.6727334336467,
+            1149.4455545856554,
+            55.14858478523364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1236.0746572222934,
+            1150.9455545856554,
+            55.14858478523364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1233.47658101094,
+            1152.4455545856554,
+            55.14858478523364
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1233.47658101094,
+            1152.4455545856554,
+            55.14858478523364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1231.97658101094,
+            1155.0436307970087,
+            55.14858478523364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1230.47658101094,
+            1157.6417070083621,
+            55.14858478523364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1228.97658101094,
+            1160.2397832197155,
+            55.14858478523364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1227.47658101094,
+            1162.8378594310689,
+            55.14858478523364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1225.97658101094,
+            1165.4359356424222,
+            55.14858478523364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1224.47658101094,
+            1168.0340118537756,
+            55.14858478523364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1222.97658101094,
+            1170.632088065129,
+            55.14858478523364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1221.47658101094,
+            1173.2301642764824,
+            55.14858478523364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1219.97658101094,
+            1175.8282404878357,
+            55.14858478523364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -1218.47658101094,
+            1178.426316699189,
+            55.14858478523364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -1216.97658101094,
+            1181.0243929105425,
+            55.14858478523364
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -1215.47658101094,
+            1183.6224691218958,
+            55.14858478523364
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1184.0,
+            1208.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_6-10-54_1656527645/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_6-10-54_1656527645/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9dc11d4ec6e9e70549d7f5a504979b623cdad053
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_6-10-54_1656527645/pose.jsonl
@@ -0,0 +1,431 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            339.5339739310368,
+            -697.0389459510817,
+            59.62029048486205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            338.0339739310368,
+            -694.4408697397284,
+            59.62029048486205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            336.5339739310368,
+            -691.8427935283751,
+            59.62029048486205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            335.0339739310368,
+            -689.2447173170217,
+            59.62029048486205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            333.5339739310368,
+            -686.6466411056683,
+            59.62029048486205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            332.0339739310368,
+            -684.048564894315,
+            59.62029048486205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            330.5339739310368,
+            -681.4504886829616,
+            59.62029048486205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            329.0339739310368,
+            -678.8524124716082,
+            59.62029048486205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            327.5339739310368,
+            -676.2543362602548,
+            59.62029048486205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            326.0339739310368,
+            -673.6562600489015,
+            59.62029048486205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            324.5339739310368,
+            -671.0581838375481,
+            59.62029048486205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            323.0339739310368,
+            -668.4601076261947,
+            59.62029048486205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            321.5339739310368,
+            -665.8620314148413,
+            59.62029048486205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            320.0339739310368,
+            -663.263955203488,
+            59.62029048486205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            318.5339739310368,
+            -660.6658789921346,
+            59.62029048486205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            317.0339739310368,
+            -658.0678027807812,
+            59.62029048486205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            315.5339739310368,
+            -655.4697265694278,
+            59.62029048486205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            314.0339739310368,
+            -652.8716503580745,
+            59.62029048486205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            312.5339739310368,
+            -650.2735741467211,
+            59.62029048486205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            311.0339739310368,
+            -647.6754979353677,
+            59.62029048486205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            309.5339739310368,
+            -645.0774217240144,
+            59.62029048486205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            308.0339739310368,
+            -642.479345512661,
+            59.62029048486205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            306.5339739310368,
+            -639.8812693013076,
+            59.62029048486205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            305.0339739310368,
+            -637.2831930899542,
+            59.62029048486205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            303.5339739310368,
+            -634.6851168786009,
+            59.62029048486205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            302.0339739310368,
+            -632.0870406672475,
+            59.62029048486205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            300.5339739310368,
+            -629.4889644558941,
+            59.62029048486205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            299.0339739310368,
+            -626.8908882445407,
+            59.62029048486205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            297.5339739310368,
+            -624.2928120331874,
+            59.62029048486205
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            297.5339739310368,
+            -624.2928120331874,
+            59.62029048486205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            294.9358977196835,
+            -622.7928120331874,
+            59.62029048486205
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            292.3378215083302,
+            -621.2928120331874,
+            59.62029048486205
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            252.0,
+            -556.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_6-8-56_1349029729/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_6-8-56_1349029729/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a841285c03ca795692c44136ae3e12a333521a41
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_6-8-56_1349029729/pose.jsonl
@@ -0,0 +1,470 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1497.1019342718237,
+            -685.5885458923759,
+            48.54218003584564
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1494.5038580604703,
+            -684.0885458923759,
+            48.54218003584564
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1491.905781849117,
+            -682.5885458923759,
+            48.54218003584564
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1489.3077056377635,
+            -681.0885458923759,
+            48.54218003584564
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1486.7096294264102,
+            -679.5885458923759,
+            48.54218003584564
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1484.1115532150568,
+            -678.0885458923759,
+            48.54218003584564
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1481.5134770037034,
+            -676.5885458923759,
+            48.54218003584564
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1478.91540079235,
+            -675.0885458923759,
+            48.54218003584564
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1476.3173245809967,
+            -673.5885458923759,
+            48.54218003584564
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1473.7192483696433,
+            -672.0885458923759,
+            48.54218003584564
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1471.12117215829,
+            -670.5885458923759,
+            48.54218003584564
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1468.5230959469366,
+            -669.0885458923759,
+            48.54218003584564
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1465.9250197355832,
+            -667.5885458923759,
+            48.54218003584564
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1463.3269435242298,
+            -666.0885458923759,
+            48.54218003584564
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1460.7288673128764,
+            -664.5885458923759,
+            48.54218003584564
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1458.130791101523,
+            -663.0885458923759,
+            48.54218003584564
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1455.5327148901697,
+            -661.5885458923759,
+            48.54218003584564
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1452.9346386788163,
+            -660.0885458923759,
+            48.54218003584564
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1450.336562467463,
+            -658.5885458923759,
+            48.54218003584564
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1450.336562467463,
+            -658.5885458923759,
+            48.54218003584564
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1447.336562467463,
+            -658.5885458923759,
+            48.54218003584564
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1444.336562467463,
+            -658.5885458923759,
+            48.54218003584564
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1441.336562467463,
+            -658.5885458923759,
+            48.54218003584564
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1438.336562467463,
+            -658.5885458923759,
+            48.54218003584564
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1435.336562467463,
+            -658.5885458923759,
+            48.54218003584564
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1432.336562467463,
+            -658.5885458923759,
+            48.54218003584564
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1429.336562467463,
+            -658.5885458923759,
+            48.54218003584564
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1426.336562467463,
+            -658.5885458923759,
+            48.54218003584564
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1423.336562467463,
+            -658.5885458923759,
+            48.54218003584564
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1420.336562467463,
+            -658.5885458923759,
+            48.54218003584564
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1417.336562467463,
+            -658.5885458923759,
+            48.54218003584564
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1414.336562467463,
+            -658.5885458923759,
+            48.54218003584564
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1411.336562467463,
+            -658.5885458923759,
+            48.54218003584564
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1408.336562467463,
+            -658.5885458923759,
+            48.54218003584564
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1405.336562467463,
+            -658.5885458923759,
+            48.54218003584564
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1348.0,
+            -644.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_7-30-14_1469543483/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_7-30-14_1469543483/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0cdd9891de58fc3cf6172d326038054697917dee
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_7-30-14_1469543483/pose.jsonl
@@ -0,0 +1,223 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1772.97333375491,
+            618.0234057479025,
+            57.21192557244899
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1774.47333375491,
+            620.6214819592558,
+            57.21192557244899
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1775.97333375491,
+            623.2195581706092,
+            57.21192557244899
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1777.47333375491,
+            625.8176343819625,
+            57.21192557244899
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1778.97333375491,
+            628.4157105933159,
+            57.21192557244899
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1780.47333375491,
+            631.0137868046693,
+            57.21192557244899
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1781.97333375491,
+            633.6118630160227,
+            57.21192557244899
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1783.47333375491,
+            636.209939227376,
+            57.21192557244899
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1783.47333375491,
+            636.209939227376,
+            57.21192557244899
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1786.0714099662634,
+            637.709939227376,
+            57.21192557244899
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1788.6694861776168,
+            639.209939227376,
+            57.21192557244899
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1791.2675623889702,
+            640.709939227376,
+            57.21192557244899
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1793.8656386003236,
+            642.209939227376,
+            57.21192557244899
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1796.463714811677,
+            643.709939227376,
+            57.21192557244899
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1799.0617910230303,
+            645.209939227376,
+            57.21192557244899
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1801.6598672343837,
+            646.709939227376,
+            57.21192557244899
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1888.0,
+            740.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_7-6-25_992209118/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_7-6-25_992209118/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..15237b4c7b8e70a0fadb80e75f533c41db2cb6e8
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_7-6-25_992209118/pose.jsonl
@@ -0,0 +1,652 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1785.6200312539622,
+            -1530.9146666571014,
+            69.17386179017862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1783.0219550426089,
+            -1529.4146666571014,
+            69.17386179017862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1780.4238788312555,
+            -1527.9146666571014,
+            69.17386179017862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1777.825802619902,
+            -1526.4146666571014,
+            69.17386179017862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1775.2277264085487,
+            -1524.9146666571014,
+            69.17386179017862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1772.6296501971954,
+            -1523.4146666571014,
+            69.17386179017862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1770.031573985842,
+            -1521.9146666571014,
+            69.17386179017862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1767.4334977744886,
+            -1520.4146666571014,
+            69.17386179017862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1764.8354215631352,
+            -1518.9146666571014,
+            69.17386179017862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1762.2373453517819,
+            -1517.4146666571014,
+            69.17386179017862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1759.6392691404285,
+            -1515.9146666571014,
+            69.17386179017862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1757.0411929290751,
+            -1514.4146666571014,
+            69.17386179017862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1754.4431167177218,
+            -1512.9146666571014,
+            69.17386179017862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1751.8450405063684,
+            -1511.4146666571014,
+            69.17386179017862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1749.246964295015,
+            -1509.9146666571014,
+            69.17386179017862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1746.6488880836616,
+            -1508.4146666571014,
+            69.17386179017862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1744.0508118723083,
+            -1506.9146666571014,
+            69.17386179017862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1741.4527356609549,
+            -1505.4146666571014,
+            69.17386179017862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1738.8546594496015,
+            -1503.9146666571014,
+            69.17386179017862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1736.2565832382481,
+            -1502.4146666571014,
+            69.17386179017862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1733.6585070268948,
+            -1500.9146666571014,
+            69.17386179017862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1731.0604308155414,
+            -1499.4146666571014,
+            69.17386179017862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1728.462354604188,
+            -1497.9146666571014,
+            69.17386179017862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1725.8642783928346,
+            -1496.4146666571014,
+            69.17386179017862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1723.2662021814813,
+            -1494.9146666571014,
+            69.17386179017862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1720.668125970128,
+            -1493.4146666571014,
+            69.17386179017862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1718.0700497587745,
+            -1491.9146666571014,
+            69.17386179017862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1715.4719735474212,
+            -1490.4146666571014,
+            69.17386179017862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1712.8738973360678,
+            -1488.9146666571014,
+            69.17386179017862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1710.2758211247144,
+            -1487.4146666571014,
+            69.17386179017862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1707.677744913361,
+            -1485.9146666571014,
+            69.17386179017862
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1707.677744913361,
+            -1485.9146666571014,
+            69.17386179017862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1704.677744913361,
+            -1485.9146666571014,
+            69.17386179017862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1701.677744913361,
+            -1485.9146666571014,
+            69.17386179017862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1698.677744913361,
+            -1485.9146666571014,
+            69.17386179017862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1695.677744913361,
+            -1485.9146666571014,
+            69.17386179017862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1692.677744913361,
+            -1485.9146666571014,
+            69.17386179017862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1689.677744913361,
+            -1485.9146666571014,
+            69.17386179017862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1686.677744913361,
+            -1485.9146666571014,
+            69.17386179017862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1683.677744913361,
+            -1485.9146666571014,
+            69.17386179017862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1680.677744913361,
+            -1485.9146666571014,
+            69.17386179017862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1677.677744913361,
+            -1485.9146666571014,
+            69.17386179017862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1674.677744913361,
+            -1485.9146666571014,
+            69.17386179017862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1671.677744913361,
+            -1485.9146666571014,
+            69.17386179017862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1668.677744913361,
+            -1485.9146666571014,
+            69.17386179017862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1665.677744913361,
+            -1485.9146666571014,
+            69.17386179017862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1662.677744913361,
+            -1485.9146666571014,
+            69.17386179017862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1659.677744913361,
+            -1485.9146666571014,
+            69.17386179017862
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1656.677744913361,
+            -1485.9146666571014,
+            69.17386179017862
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1628.0,
+            -1476.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_8-49-45_573120688/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_8-49-45_573120688/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..91e5e55bc2c26b2063c7c7fd0806c3d0589216cd
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_8-49-45_573120688/pose.jsonl
@@ -0,0 +1,561 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1057.056255591553,
+            -618.6586695716245,
+            44.83478617736489
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1054.4581793801997,
+            -620.1586695716245,
+            44.83478617736489
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1051.8601031688463,
+            -621.6586695716245,
+            44.83478617736489
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1049.262026957493,
+            -623.1586695716245,
+            44.83478617736489
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1046.6639507461396,
+            -624.6586695716245,
+            44.83478617736489
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1044.0658745347862,
+            -626.1586695716245,
+            44.83478617736489
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1041.4677983234328,
+            -627.6586695716245,
+            44.83478617736489
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1038.8697221120794,
+            -629.1586695716245,
+            44.83478617736489
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1036.271645900726,
+            -630.6586695716245,
+            44.83478617736489
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1033.6735696893727,
+            -632.1586695716245,
+            44.83478617736489
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1031.0754934780193,
+            -633.6586695716245,
+            44.83478617736489
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1028.477417266666,
+            -635.1586695716245,
+            44.83478617736489
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1025.8793410553126,
+            -636.6586695716245,
+            44.83478617736489
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1023.2812648439592,
+            -638.1586695716245,
+            44.83478617736489
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1020.6831886326058,
+            -639.6586695716245,
+            44.83478617736489
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1018.0851124212525,
+            -641.1586695716245,
+            44.83478617736489
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1015.4870362098991,
+            -642.6586695716245,
+            44.83478617736489
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1012.8889599985457,
+            -644.1586695716245,
+            44.83478617736489
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1010.2908837871923,
+            -645.6586695716245,
+            44.83478617736489
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1007.692807575839,
+            -647.1586695716245,
+            44.83478617736489
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1005.0947313644856,
+            -648.6586695716245,
+            44.83478617736489
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1002.4966551531322,
+            -650.1586695716245,
+            44.83478617736489
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            999.8985789417789,
+            -651.6586695716245,
+            44.83478617736489
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            997.3005027304255,
+            -653.1586695716245,
+            44.83478617736489
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            994.7024265190721,
+            -654.6586695716245,
+            44.83478617736489
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            992.1043503077187,
+            -656.1586695716245,
+            44.83478617736489
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            992.1043503077187,
+            -656.1586695716245,
+            44.83478617736489
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            990.6043503077187,
+            -658.7567457829778,
+            44.83478617736489
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            989.1043503077187,
+            -661.3548219943311,
+            44.83478617736489
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            987.6043503077187,
+            -663.9528982056845,
+            44.83478617736489
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            986.1043503077187,
+            -666.5509744170379,
+            44.83478617736489
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            984.6043503077187,
+            -669.1490506283913,
+            44.83478617736489
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            983.1043503077187,
+            -671.7471268397446,
+            44.83478617736489
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            981.6043503077187,
+            -674.345203051098,
+            44.83478617736489
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            980.1043503077187,
+            -676.9432792624514,
+            44.83478617736489
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            978.6043503077187,
+            -679.5413554738047,
+            44.83478617736489
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            977.1043503077187,
+            -682.1394316851581,
+            44.83478617736489
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            975.6043503077187,
+            -684.7375078965115,
+            44.83478617736489
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            975.6043503077187,
+            -684.7375078965115,
+            44.83478617736489
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            973.0062740963654,
+            -686.2375078965115,
+            44.83478617736489
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            970.408197885012,
+            -687.7375078965115,
+            44.83478617736489
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            967.8101216736586,
+            -689.2375078965115,
+            44.83478617736489
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            936.0,
+            -716.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_9-51-56_2026366796/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_9-51-56_2026366796/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a26e3612470b855252f46ceeaab013156a3b24da
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_9-51-56_2026366796/pose.jsonl
@@ -0,0 +1,522 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1212.4122118762875,
+            328.28518456670736,
+            65.28350381051068
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1215.4122118762875,
+            328.28518456670736,
+            65.28350381051068
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1218.4122118762875,
+            328.28518456670736,
+            65.28350381051068
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1221.4122118762875,
+            328.28518456670736,
+            65.28350381051068
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1224.4122118762875,
+            328.28518456670736,
+            65.28350381051068
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1227.4122118762875,
+            328.28518456670736,
+            65.28350381051068
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1230.4122118762875,
+            328.28518456670736,
+            65.28350381051068
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1233.4122118762875,
+            328.28518456670736,
+            65.28350381051068
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1236.4122118762875,
+            328.28518456670736,
+            65.28350381051068
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1239.4122118762875,
+            328.28518456670736,
+            65.28350381051068
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1242.4122118762875,
+            328.28518456670736,
+            65.28350381051068
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1245.4122118762875,
+            328.28518456670736,
+            65.28350381051068
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1248.4122118762875,
+            328.28518456670736,
+            65.28350381051068
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1251.4122118762875,
+            328.28518456670736,
+            65.28350381051068
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1254.4122118762875,
+            328.28518456670736,
+            65.28350381051068
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1257.4122118762875,
+            328.28518456670736,
+            65.28350381051068
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1260.4122118762875,
+            328.28518456670736,
+            65.28350381051068
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1263.4122118762875,
+            328.28518456670736,
+            65.28350381051068
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1266.4122118762875,
+            328.28518456670736,
+            65.28350381051068
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1269.4122118762875,
+            328.28518456670736,
+            65.28350381051068
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1269.4122118762875,
+            328.28518456670736,
+            65.28350381051068
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1272.010288087641,
+            326.78518456670736,
+            65.28350381051068
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1274.6083642989943,
+            325.28518456670736,
+            65.28350381051068
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1277.2064405103476,
+            323.78518456670736,
+            65.28350381051068
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1279.804516721701,
+            322.28518456670736,
+            65.28350381051068
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1282.4025929330544,
+            320.78518456670736,
+            65.28350381051068
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1285.0006691444078,
+            319.28518456670736,
+            65.28350381051068
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1287.5987453557611,
+            317.78518456670736,
+            65.28350381051068
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1290.1968215671145,
+            316.28518456670736,
+            65.28350381051068
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1292.7948977784679,
+            314.78518456670736,
+            65.28350381051068
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1295.3929739898213,
+            313.28518456670736,
+            65.28350381051068
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1297.9910502011746,
+            311.78518456670736,
+            65.28350381051068
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1300.589126412528,
+            310.28518456670736,
+            65.28350381051068
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1303.1872026238814,
+            308.78518456670736,
+            65.28350381051068
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1305.7852788352347,
+            307.28518456670736,
+            65.28350381051068
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1308.3833550465881,
+            305.78518456670736,
+            65.28350381051068
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1310.9814312579415,
+            304.28518456670736,
+            65.28350381051068
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1313.5795074692949,
+            302.78518456670736,
+            65.28350381051068
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1316.1775836806482,
+            301.28518456670736,
+            65.28350381051068
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1380.0,
+            288.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_9-52-20_1122249809/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_9-52-20_1122249809/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b691642b0fb3e269550451b8e61e45fc66a377a0
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_9-52-20_1122249809/pose.jsonl
@@ -0,0 +1,522 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -58.684170314109565,
+            -97.93131543408714,
+            58.970674600390865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -55.684170314109565,
+            -97.93131543408714,
+            58.970674600390865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -52.684170314109565,
+            -97.93131543408714,
+            58.970674600390865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -49.684170314109565,
+            -97.93131543408714,
+            58.970674600390865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -46.684170314109565,
+            -97.93131543408714,
+            58.970674600390865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -43.684170314109565,
+            -97.93131543408714,
+            58.970674600390865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -40.684170314109565,
+            -97.93131543408714,
+            58.970674600390865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -37.684170314109565,
+            -97.93131543408714,
+            58.970674600390865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -34.684170314109565,
+            -97.93131543408714,
+            58.970674600390865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -31.684170314109565,
+            -97.93131543408714,
+            58.970674600390865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -28.684170314109565,
+            -97.93131543408714,
+            58.970674600390865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -25.684170314109565,
+            -97.93131543408714,
+            58.970674600390865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -22.684170314109565,
+            -97.93131543408714,
+            58.970674600390865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -19.684170314109565,
+            -97.93131543408714,
+            58.970674600390865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -16.684170314109565,
+            -97.93131543408714,
+            58.970674600390865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -13.684170314109565,
+            -97.93131543408714,
+            58.970674600390865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -10.684170314109565,
+            -97.93131543408714,
+            58.970674600390865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -7.684170314109565,
+            -97.93131543408714,
+            58.970674600390865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -4.684170314109565,
+            -97.93131543408714,
+            58.970674600390865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1.684170314109565,
+            -97.93131543408714,
+            58.970674600390865
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1.684170314109565,
+            -97.93131543408714,
+            58.970674600390865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            0.913905897243751,
+            -99.43131543408714,
+            58.970674600390865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            3.511982108597067,
+            -100.93131543408714,
+            58.970674600390865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            6.110058319950383,
+            -102.43131543408714,
+            58.970674600390865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            8.708134531303699,
+            -103.93131543408714,
+            58.970674600390865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            11.306210742657015,
+            -105.43131543408714,
+            58.970674600390865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            13.904286954010331,
+            -106.93131543408714,
+            58.970674600390865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            16.502363165363647,
+            -108.43131543408714,
+            58.970674600390865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            19.100439376716963,
+            -109.93131543408714,
+            58.970674600390865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            21.69851558807028,
+            -111.43131543408714,
+            58.970674600390865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            24.296591799423595,
+            -112.93131543408714,
+            58.970674600390865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            26.89466801077691,
+            -114.43131543408714,
+            58.970674600390865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            29.492744222130227,
+            -115.93131543408714,
+            58.970674600390865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            32.09082043348354,
+            -117.43131543408714,
+            58.970674600390865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            34.68889664483686,
+            -118.93131543408714,
+            58.970674600390865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            37.286972856190175,
+            -120.43131543408714,
+            58.970674600390865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            39.88504906754349,
+            -121.93131543408714,
+            58.970674600390865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            42.48312527889681,
+            -123.43131543408714,
+            58.970674600390865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            45.08120149025012,
+            -124.93131543408714,
+            58.970674600390865
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            88.0,
+            -140.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_9-9-8_737582315/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_9-9-8_737582315/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..23150c81f8af8b3c4d0d6cdadf8261836ae7ce86
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_9-9-8_737582315/pose.jsonl
@@ -0,0 +1,821 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1047.0236826534958,
+            -1207.8032120959772,
+            49.180646640855734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1044.0236826534958,
+            -1207.8032120959772,
+            49.180646640855734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1041.0236826534958,
+            -1207.8032120959772,
+            49.180646640855734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1038.0236826534958,
+            -1207.8032120959772,
+            49.180646640855734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1035.0236826534958,
+            -1207.8032120959772,
+            49.180646640855734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1032.0236826534958,
+            -1207.8032120959772,
+            49.180646640855734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1029.0236826534958,
+            -1207.8032120959772,
+            49.180646640855734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1026.0236826534958,
+            -1207.8032120959772,
+            49.180646640855734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1023.0236826534958,
+            -1207.8032120959772,
+            49.180646640855734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1020.0236826534958,
+            -1207.8032120959772,
+            49.180646640855734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1017.0236826534958,
+            -1207.8032120959772,
+            49.180646640855734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1014.0236826534958,
+            -1207.8032120959772,
+            49.180646640855734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1011.0236826534958,
+            -1207.8032120959772,
+            49.180646640855734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1008.0236826534958,
+            -1207.8032120959772,
+            49.180646640855734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1005.0236826534958,
+            -1207.8032120959772,
+            49.180646640855734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1002.0236826534958,
+            -1207.8032120959772,
+            49.180646640855734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -999.0236826534958,
+            -1207.8032120959772,
+            49.180646640855734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -996.0236826534958,
+            -1207.8032120959772,
+            49.180646640855734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -993.0236826534958,
+            -1207.8032120959772,
+            49.180646640855734
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -993.0236826534958,
+            -1207.8032120959772,
+            49.180646640855734
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -993.0236826534958,
+            -1207.8032120959772,
+            49.180646640855734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -991.5236826534958,
+            -1205.2051358846238,
+            49.180646640855734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -990.0236826534958,
+            -1202.6070596732704,
+            49.180646640855734
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -990.0236826534958,
+            -1202.6070596732704,
+            49.180646640855734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -987.4256064421425,
+            -1201.1070596732704,
+            49.180646640855734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -984.8275302307891,
+            -1199.6070596732704,
+            49.180646640855734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -982.2294540194357,
+            -1198.1070596732704,
+            49.180646640855734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -979.6313778080823,
+            -1196.6070596732704,
+            49.180646640855734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -977.033301596729,
+            -1195.1070596732704,
+            49.180646640855734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -974.4352253853756,
+            -1193.6070596732704,
+            49.180646640855734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -971.8371491740222,
+            -1192.1070596732704,
+            49.180646640855734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -969.2390729626688,
+            -1190.6070596732704,
+            49.180646640855734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -966.6409967513155,
+            -1189.1070596732704,
+            49.180646640855734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -964.0429205399621,
+            -1187.6070596732704,
+            49.180646640855734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -961.4448443286087,
+            -1186.1070596732704,
+            49.180646640855734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -958.8467681172554,
+            -1184.6070596732704,
+            49.180646640855734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -956.248691905902,
+            -1183.1070596732704,
+            49.180646640855734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -953.6506156945486,
+            -1181.6070596732704,
+            49.180646640855734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -951.0525394831952,
+            -1180.1070596732704,
+            49.180646640855734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -948.4544632718419,
+            -1178.6070596732704,
+            49.180646640855734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -945.8563870604885,
+            -1177.1070596732704,
+            49.180646640855734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -943.2583108491351,
+            -1175.6070596732704,
+            49.180646640855734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -940.6602346377817,
+            -1174.1070596732704,
+            49.180646640855734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -938.0621584264284,
+            -1172.6070596732704,
+            49.180646640855734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -935.464082215075,
+            -1171.1070596732704,
+            49.180646640855734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -932.8660060037216,
+            -1169.6070596732704,
+            49.180646640855734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -930.2679297923682,
+            -1168.1070596732704,
+            49.180646640855734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -927.6698535810149,
+            -1166.6070596732704,
+            49.180646640855734
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -927.6698535810149,
+            -1166.6070596732704,
+            49.180646640855734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -9.43689570931383e-15
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -924.6698535810149,
+            -1166.6070596732704,
+            49.180646640855734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -921.6698535810149,
+            -1166.6070596732704,
+            49.180646640855734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -918.6698535810149,
+            -1166.6070596732704,
+            49.180646640855734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -915.6698535810149,
+            -1166.6070596732704,
+            49.180646640855734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -912.6698535810149,
+            -1166.6070596732704,
+            49.180646640855734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -909.6698535810149,
+            -1166.6070596732704,
+            49.180646640855734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -906.6698535810149,
+            -1166.6070596732704,
+            49.180646640855734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -903.6698535810149,
+            -1166.6070596732704,
+            49.180646640855734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -900.6698535810149,
+            -1166.6070596732704,
+            49.180646640855734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            -897.6698535810149,
+            -1166.6070596732704,
+            49.180646640855734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            -894.6698535810149,
+            -1166.6070596732704,
+            49.180646640855734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            -891.6698535810149,
+            -1166.6070596732704,
+            49.180646640855734
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            -888.6698535810149,
+            -1166.6070596732704,
+            49.180646640855734
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -876.0,
+            -1164.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_0-58-43_1033541468/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_0-58-43_1033541468/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..85cf6c392212cf89e0cffb765a2387821a961b99
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_0-58-43_1033541468/pose.jsonl
@@ -0,0 +1,678 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -318.02861022461104,
+            1505.0345021232295,
+            40.05103252904563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -320.62668643596436,
+            1506.5345021232295,
+            40.05103252904563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -323.2247626473177,
+            1508.0345021232295,
+            40.05103252904563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -325.822838858671,
+            1509.5345021232295,
+            40.05103252904563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -328.4209150700243,
+            1511.0345021232295,
+            40.05103252904563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -331.0189912813776,
+            1512.5345021232295,
+            40.05103252904563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -333.61706749273094,
+            1514.0345021232295,
+            40.05103252904563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -336.21514370408426,
+            1515.5345021232295,
+            40.05103252904563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -338.81321991543757,
+            1517.0345021232295,
+            40.05103252904563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -341.4112961267909,
+            1518.5345021232295,
+            40.05103252904563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -344.0093723381442,
+            1520.0345021232295,
+            40.05103252904563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -346.6074485494975,
+            1521.5345021232295,
+            40.05103252904563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -349.20552476085084,
+            1523.0345021232295,
+            40.05103252904563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -351.80360097220415,
+            1524.5345021232295,
+            40.05103252904563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -354.40167718355747,
+            1526.0345021232295,
+            40.05103252904563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -356.9997533949108,
+            1527.5345021232295,
+            40.05103252904563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -359.5978296062641,
+            1529.0345021232295,
+            40.05103252904563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -362.1959058176174,
+            1530.5345021232295,
+            40.05103252904563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -364.79398202897073,
+            1532.0345021232295,
+            40.05103252904563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -367.39205824032405,
+            1533.5345021232295,
+            40.05103252904563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -369.99013445167736,
+            1535.0345021232295,
+            40.05103252904563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -372.5882106630307,
+            1536.5345021232295,
+            40.05103252904563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -375.186286874384,
+            1538.0345021232295,
+            40.05103252904563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -377.7843630857373,
+            1539.5345021232295,
+            40.05103252904563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -380.3824392970906,
+            1541.0345021232295,
+            40.05103252904563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -382.98051550844394,
+            1542.5345021232295,
+            40.05103252904563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -385.57859171979726,
+            1544.0345021232295,
+            40.05103252904563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -388.1766679311506,
+            1545.5345021232295,
+            40.05103252904563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -390.7747441425039,
+            1547.0345021232295,
+            40.05103252904563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -393.3728203538572,
+            1548.5345021232295,
+            40.05103252904563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -395.9708965652105,
+            1550.0345021232295,
+            40.05103252904563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -398.56897277656384,
+            1551.5345021232295,
+            40.05103252904563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -401.16704898791716,
+            1553.0345021232295,
+            40.05103252904563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -403.76512519927047,
+            1554.5345021232295,
+            40.05103252904563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -406.3632014106238,
+            1556.0345021232295,
+            40.05103252904563
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -406.3632014106238,
+            1556.0345021232295,
+            40.05103252904563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -407.8632014106238,
+            1558.6325783345828,
+            40.05103252904563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -409.3632014106238,
+            1561.2306545459362,
+            40.05103252904563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -410.8632014106238,
+            1563.8287307572896,
+            40.05103252904563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -412.3632014106238,
+            1566.426806968643,
+            40.05103252904563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -413.8632014106238,
+            1569.0248831799963,
+            40.05103252904563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -415.3632014106238,
+            1571.6229593913497,
+            40.05103252904563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -416.8632014106238,
+            1574.221035602703,
+            40.05103252904563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -418.3632014106238,
+            1576.8191118140564,
+            40.05103252904563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -419.8632014106238,
+            1579.4171880254098,
+            40.05103252904563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -421.3632014106238,
+            1582.0152642367632,
+            40.05103252904563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -422.8632014106238,
+            1584.6133404481166,
+            40.05103252904563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -424.3632014106238,
+            1587.21141665947,
+            40.05103252904563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -425.8632014106238,
+            1589.8094928708233,
+            40.05103252904563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -427.3632014106238,
+            1592.4075690821767,
+            40.05103252904563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -428.8632014106238,
+            1595.00564529353,
+            40.05103252904563
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -456.0,
+            1620.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_1-42-10_650868717/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_1-42-10_650868717/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7e44e37d3d5adeeedd754993f778f2ee171fd988
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_1-42-10_650868717/pose.jsonl
@@ -0,0 +1,574 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            810.8007185856522,
+            -1637.942656290736,
+            40.26783543327894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            808.2026423742989,
+            -1636.442656290736,
+            40.26783543327894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            805.6045661629455,
+            -1634.942656290736,
+            40.26783543327894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            803.0064899515921,
+            -1633.442656290736,
+            40.26783543327894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            800.4084137402388,
+            -1631.942656290736,
+            40.26783543327894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            797.8103375288854,
+            -1630.442656290736,
+            40.26783543327894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            795.212261317532,
+            -1628.942656290736,
+            40.26783543327894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            792.6141851061786,
+            -1627.442656290736,
+            40.26783543327894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            790.0161088948253,
+            -1625.942656290736,
+            40.26783543327894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            787.4180326834719,
+            -1624.442656290736,
+            40.26783543327894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            784.8199564721185,
+            -1622.942656290736,
+            40.26783543327894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            782.2218802607651,
+            -1621.442656290736,
+            40.26783543327894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            779.6238040494118,
+            -1619.942656290736,
+            40.26783543327894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            777.0257278380584,
+            -1618.442656290736,
+            40.26783543327894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            774.427651626705,
+            -1616.942656290736,
+            40.26783543327894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            771.8295754153517,
+            -1615.442656290736,
+            40.26783543327894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            769.2314992039983,
+            -1613.942656290736,
+            40.26783543327894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            766.6334229926449,
+            -1612.442656290736,
+            40.26783543327894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            764.0353467812915,
+            -1610.942656290736,
+            40.26783543327894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            761.4372705699382,
+            -1609.442656290736,
+            40.26783543327894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            758.8391943585848,
+            -1607.942656290736,
+            40.26783543327894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            756.2411181472314,
+            -1606.442656290736,
+            40.26783543327894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            753.643041935878,
+            -1604.942656290736,
+            40.26783543327894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            751.0449657245247,
+            -1603.442656290736,
+            40.26783543327894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            748.4468895131713,
+            -1601.942656290736,
+            40.26783543327894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            745.8488133018179,
+            -1600.442656290736,
+            40.26783543327894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            743.2507370904646,
+            -1598.942656290736,
+            40.26783543327894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            740.6526608791112,
+            -1597.442656290736,
+            40.26783543327894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            738.0545846677578,
+            -1595.942656290736,
+            40.26783543327894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            735.4565084564044,
+            -1594.442656290736,
+            40.26783543327894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            732.8584322450511,
+            -1592.942656290736,
+            40.26783543327894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            730.2603560336977,
+            -1591.442656290736,
+            40.26783543327894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            727.6622798223443,
+            -1589.942656290736,
+            40.26783543327894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            725.064203610991,
+            -1588.442656290736,
+            40.26783543327894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            722.4661273996376,
+            -1586.942656290736,
+            40.26783543327894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            719.8680511882842,
+            -1585.442656290736,
+            40.26783543327894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            717.2699749769308,
+            -1583.942656290736,
+            40.26783543327894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            714.6718987655775,
+            -1582.442656290736,
+            40.26783543327894
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            714.6718987655775,
+            -1582.442656290736,
+            40.26783543327894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            713.1718987655775,
+            -1579.8445800793827,
+            40.26783543327894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            711.6718987655775,
+            -1577.2465038680293,
+            40.26783543327894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            710.1718987655775,
+            -1574.648427656676,
+            40.26783543327894
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            708.6718987655775,
+            -1572.0503514453226,
+            40.26783543327894
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            680.0,
+            -1556.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_1-7-47_855810150/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_1-7-47_855810150/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e64cb633e465c7fa2e296ba95beb94434598e52c
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_1-7-47_855810150/pose.jsonl
@@ -0,0 +1,730 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1021.8245877681799,
+            -512.2966660637342,
+            69.91818554398576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1024.4226639795331,
+            -513.7966660637342,
+            69.91818554398576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1027.0207401908865,
+            -515.2966660637342,
+            69.91818554398576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1029.6188164022399,
+            -516.7966660637342,
+            69.91818554398576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1032.2168926135932,
+            -518.2966660637342,
+            69.91818554398576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1034.8149688249466,
+            -519.7966660637342,
+            69.91818554398576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1037.4130450363,
+            -521.2966660637342,
+            69.91818554398576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1040.0111212476534,
+            -522.7966660637342,
+            69.91818554398576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1042.6091974590067,
+            -524.2966660637342,
+            69.91818554398576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1045.20727367036,
+            -525.7966660637342,
+            69.91818554398576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1047.8053498817135,
+            -527.2966660637342,
+            69.91818554398576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1050.4034260930669,
+            -528.7966660637342,
+            69.91818554398576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1053.0015023044202,
+            -530.2966660637342,
+            69.91818554398576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1055.5995785157736,
+            -531.7966660637342,
+            69.91818554398576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1058.197654727127,
+            -533.2966660637342,
+            69.91818554398576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1060.7957309384803,
+            -534.7966660637342,
+            69.91818554398576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1063.3938071498337,
+            -536.2966660637342,
+            69.91818554398576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1065.991883361187,
+            -537.7966660637342,
+            69.91818554398576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1068.5899595725405,
+            -539.2966660637342,
+            69.91818554398576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1071.1880357838938,
+            -540.7966660637342,
+            69.91818554398576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1073.7861119952472,
+            -542.2966660637342,
+            69.91818554398576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1076.3841882066006,
+            -543.7966660637342,
+            69.91818554398576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1078.982264417954,
+            -545.2966660637342,
+            69.91818554398576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1081.5803406293073,
+            -546.7966660637342,
+            69.91818554398576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1084.1784168406607,
+            -548.2966660637342,
+            69.91818554398576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1086.776493052014,
+            -549.7966660637342,
+            69.91818554398576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1089.3745692633674,
+            -551.2966660637342,
+            69.91818554398576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1091.9726454747208,
+            -552.7966660637342,
+            69.91818554398576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1094.5707216860742,
+            -554.2966660637342,
+            69.91818554398576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1097.1687978974276,
+            -555.7966660637342,
+            69.91818554398576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1099.766874108781,
+            -557.2966660637342,
+            69.91818554398576
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1099.766874108781,
+            -557.2966660637342,
+            69.91818554398576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1101.266874108781,
+            -559.8947422750875,
+            69.91818554398576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1102.766874108781,
+            -562.4928184864409,
+            69.91818554398576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1104.266874108781,
+            -565.0908946977943,
+            69.91818554398576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1105.766874108781,
+            -567.6889709091477,
+            69.91818554398576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1107.266874108781,
+            -570.287047120501,
+            69.91818554398576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1108.766874108781,
+            -572.8851233318544,
+            69.91818554398576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1110.266874108781,
+            -575.4831995432078,
+            69.91818554398576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1111.766874108781,
+            -578.0812757545611,
+            69.91818554398576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -1113.266874108781,
+            -580.6793519659145,
+            69.91818554398576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -1114.766874108781,
+            -583.2774281772679,
+            69.91818554398576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -1116.266874108781,
+            -585.8755043886213,
+            69.91818554398576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -1117.766874108781,
+            -588.4735805999746,
+            69.91818554398576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -1119.266874108781,
+            -591.071656811328,
+            69.91818554398576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -1120.766874108781,
+            -593.6697330226814,
+            69.91818554398576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -1122.266874108781,
+            -596.2678092340348,
+            69.91818554398576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -1123.766874108781,
+            -598.8658854453881,
+            69.91818554398576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -1125.266874108781,
+            -601.4639616567415,
+            69.91818554398576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -1126.766874108781,
+            -604.0620378680949,
+            69.91818554398576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -1128.266874108781,
+            -606.6601140794482,
+            69.91818554398576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -1129.766874108781,
+            -609.2581902908016,
+            69.91818554398576
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -1129.766874108781,
+            -609.2581902908016,
+            69.91818554398576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -1132.3649503201343,
+            -610.7581902908016,
+            69.91818554398576
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -1134.9630265314877,
+            -612.2581902908016,
+            69.91818554398576
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1156.0,
+            -632.0,
+            0.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}