diff --git a/Image/env_gs_sjtu02/astar_data/long/2025-1-7_17-20-44_894429689/pose.jsonl b/Image/env_gs_sjtu02/astar_data/long/2025-1-7_17-20-44_894429689/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ee84a9acb38454617c216dcca5e1a2e7bb5dab21
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/long/2025-1-7_17-20-44_894429689/pose.jsonl
@@ -0,0 +1,691 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -294.27014147907266,
+            697.4573036647313,
+            -5.915062868713598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -295.77014147907266,
+            694.859227453378,
+            -5.915062868713598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -297.27014147907266,
+            692.2611512420247,
+            -5.915062868713598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -298.77014147907266,
+            689.6630750306713,
+            -5.915062868713598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -300.27014147907266,
+            687.0649988193179,
+            -5.915062868713598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -301.77014147907266,
+            684.4669226079645,
+            -5.915062868713598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -303.27014147907266,
+            681.8688463966112,
+            -5.915062868713598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -304.77014147907266,
+            679.2707701852578,
+            -5.915062868713598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -306.27014147907266,
+            676.6726939739044,
+            -5.915062868713598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -307.77014147907266,
+            674.074617762551,
+            -5.915062868713598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -309.27014147907266,
+            671.4765415511977,
+            -5.915062868713598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -310.77014147907266,
+            668.8784653398443,
+            -5.915062868713598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -312.27014147907266,
+            666.2803891284909,
+            -5.915062868713598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -313.77014147907266,
+            663.6823129171376,
+            -5.915062868713598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -315.27014147907266,
+            661.0842367057842,
+            -5.915062868713598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -316.77014147907266,
+            658.4861604944308,
+            -5.915062868713598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -318.27014147907266,
+            655.8880842830774,
+            -5.915062868713598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -319.77014147907266,
+            653.2900080717241,
+            -5.915062868713598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -321.27014147907266,
+            650.6919318603707,
+            -5.915062868713598
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -321.27014147907266,
+            650.6919318603707,
+            -5.915062868713598
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -321.27014147907266,
+            650.6919318603707,
+            -5.915062868713598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535897833
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -324.27014147907266,
+            650.6919318603707,
+            -5.915062868713598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -330.1418514251709,
+            648.1967735290527,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -327.27014147907266,
+            650.6919318603707,
+            -5.915062868713598
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -327.27014147907266,
+            650.6919318603707,
+            -5.915062868713598
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -327.27014147907266,
+            650.6919318603707,
+            -5.915062868713598
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -327.27014147907266,
+            650.6919318603707,
+            -5.915062868713598
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -327.27014147907266,
+            650.6919318603707,
+            -5.915062868713598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -327.27014147907266,
+            647.6919318603707,
+            -5.915062868713598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -327.27014147907266,
+            644.6919318603707,
+            -5.915062868713598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -327.27014147907266,
+            641.6919318603707,
+            -5.915062868713598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -327.27014147907266,
+            638.6919318603707,
+            -5.915062868713598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -327.27014147907266,
+            635.6919318603707,
+            -5.915062868713598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -327.27014147907266,
+            632.6919318603707,
+            -5.915062868713598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -327.27014147907266,
+            629.6919318603707,
+            -5.915062868713598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -327.27014147907266,
+            626.6919318603707,
+            -5.915062868713598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -327.27014147907266,
+            623.6919318603707,
+            -5.915062868713598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -327.27014147907266,
+            620.6919318603707,
+            -5.915062868713598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -327.27014147907266,
+            617.6919318603707,
+            -5.915062868713598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -327.27014147907266,
+            614.6919318603707,
+            -5.915062868713598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -327.27014147907266,
+            611.6919318603707,
+            -5.915062868713598
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -327.27014147907266,
+            611.6919318603707,
+            -5.915062868713598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -325.77014147907266,
+            609.0938556490173,
+            -5.915062868713598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -324.27014147907266,
+            606.4957794376639,
+            -5.915062868713598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -322.77014147907266,
+            603.8977032263106,
+            -5.915062868713598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -321.27014147907266,
+            601.2996270149572,
+            -5.915062868713598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -319.77014147907266,
+            598.7015508036038,
+            -5.915062868713598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -318.27014147907266,
+            596.1034745922504,
+            -5.915062868713598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -316.77014147907266,
+            593.5053983808971,
+            -5.915062868713598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -315.27014147907266,
+            590.9073221695437,
+            -5.915062868713598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -313.77014147907266,
+            588.3092459581903,
+            -5.915062868713598
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -312.27014147907266,
+            585.711169746837,
+            -5.915062868713598
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -310.2634754180908,
+            584.025821685791,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/long/2025-1-7_17-39-48_439493451/pose.jsonl b/Image/env_gs_sjtu02/astar_data/long/2025-1-7_17-39-48_439493451/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..60e6e87868e89dbfec7b22b58ecbb249d1c26e42
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/long/2025-1-7_17-39-48_439493451/pose.jsonl
@@ -0,0 +1,704 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -401.72947375334945,
+            442.2059442288106,
+            -2.5537004438794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -401.72947375334945,
+            445.2059442288106,
+            -2.5537004438794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -401.72947375334945,
+            448.2059442288106,
+            -2.5537004438794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -401.72947375334945,
+            451.2059442288106,
+            -2.5537004438794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -401.72947375334945,
+            454.2059442288106,
+            -2.5537004438794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -401.72947375334945,
+            457.2059442288106,
+            -2.5537004438794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -401.72947375334945,
+            460.2059442288106,
+            -2.5537004438794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -401.72947375334945,
+            463.2059442288106,
+            -2.5537004438794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -401.72947375334945,
+            466.2059442288106,
+            -2.5537004438794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -401.72947375334945,
+            469.2059442288106,
+            -2.5537004438794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -401.72947375334945,
+            472.2059442288106,
+            -2.5537004438794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -401.72947375334945,
+            475.2059442288106,
+            -2.5537004438794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -401.72947375334945,
+            478.2059442288106,
+            -2.5537004438794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -401.72947375334945,
+            481.2059442288106,
+            -2.5537004438794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -401.72947375334945,
+            484.2059442288106,
+            -2.5537004438794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -401.72947375334945,
+            487.2059442288106,
+            -2.5537004438794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -401.72947375334945,
+            490.2059442288106,
+            -2.5537004438794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -401.72947375334945,
+            493.2059442288106,
+            -2.5537004438794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -401.72947375334945,
+            496.2059442288106,
+            -2.5537004438794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -401.72947375334945,
+            499.2059442288106,
+            -2.5537004438794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -401.72947375334945,
+            502.2059442288106,
+            -2.5537004438794
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -401.72947375334945,
+            502.2059442288106,
+            -2.5537004438794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -400.22947375334945,
+            504.8040204401639,
+            -2.5537004438794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -398.72947375334945,
+            507.40209665151724,
+            -2.5537004438794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -397.22947375334945,
+            510.00017286287056,
+            -2.5537004438794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -394.3976402282715,
+            515.07497215271,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -395.72947375334945,
+            512.5982490742239,
+            -2.5537004438794
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -395.72947375334945,
+            512.5982490742239,
+            -2.5537004438794
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -395.72947375334945,
+            512.5982490742239,
+            -2.5537004438794
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -395.72947375334945,
+            512.5982490742239,
+            -2.5537004438794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -397.22947375334945,
+            515.1963252855771,
+            -2.5537004438794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -398.72947375334945,
+            517.7944014969305,
+            -2.5537004438794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -400.22947375334945,
+            520.3924777082839,
+            -2.5537004438794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -401.72947375334945,
+            522.9905539196373,
+            -2.5537004438794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -403.22947375334945,
+            525.5886301309906,
+            -2.5537004438794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -404.72947375334945,
+            528.186706342344,
+            -2.5537004438794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -406.22947375334945,
+            530.7847825536974,
+            -2.5537004438794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -407.72947375334945,
+            533.3828587650507,
+            -2.5537004438794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -409.22947375334945,
+            535.9809349764041,
+            -2.5537004438794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -410.72947375334945,
+            538.5790111877575,
+            -2.5537004438794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -412.22947375334945,
+            541.1770873991109,
+            -2.5537004438794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -413.72947375334945,
+            543.7751636104642,
+            -2.5537004438794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -415.22947375334945,
+            546.3732398218176,
+            -2.5537004438794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -416.72947375334945,
+            548.971316033171,
+            -2.5537004438794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -418.22947375334945,
+            551.5693922445244,
+            -2.5537004438794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -419.72947375334945,
+            554.1674684558777,
+            -2.5537004438794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -421.22947375334945,
+            556.7655446672311,
+            -2.5537004438794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -422.72947375334945,
+            559.3636208785845,
+            -2.5537004438794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -424.22947375334945,
+            561.9616970899378,
+            -2.5537004438794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -425.72947375334945,
+            564.5597733012912,
+            -2.5537004438794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -427.22947375334945,
+            567.1578495126446,
+            -2.5537004438794
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -427.22947375334945,
+            567.1578495126446,
+            -2.5537004438794
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -429.82754996470277,
+            568.6578495126446,
+            -2.5537004438794
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914846
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -432.77319145202637,
+            570.0605564117432,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/long/2025-1-7_17-8-37_1956297539/pose.jsonl b/Image/env_gs_sjtu02/astar_data/long/2025-1-7_17-8-37_1956297539/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..de8a8f45b10133e3b2b3004eaaa8975f8e6303cd
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/long/2025-1-7_17-8-37_1956297539/pose.jsonl
@@ -0,0 +1,691 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -640.21337475274,
+            562.7005394018943,
+            -15.348565492859944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -641.71337475274,
+            560.1024631905409,
+            -15.348565492859944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -643.21337475274,
+            557.5043869791875,
+            -15.348565492859944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -644.71337475274,
+            554.9063107678342,
+            -15.348565492859944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -646.21337475274,
+            552.3082345564808,
+            -15.348565492859944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -647.71337475274,
+            549.7101583451274,
+            -15.348565492859944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -649.21337475274,
+            547.112082133774,
+            -15.348565492859944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -650.71337475274,
+            544.5140059224207,
+            -15.348565492859944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -652.21337475274,
+            541.9159297110673,
+            -15.348565492859944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -653.71337475274,
+            539.3178534997139,
+            -15.348565492859944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -655.21337475274,
+            536.7197772883605,
+            -15.348565492859944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -656.71337475274,
+            534.1217010770072,
+            -15.348565492859944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -658.21337475274,
+            531.5236248656538,
+            -15.348565492859944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -659.71337475274,
+            528.9255486543004,
+            -15.348565492859944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -661.21337475274,
+            526.327472442947,
+            -15.348565492859944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -662.71337475274,
+            523.7293962315937,
+            -15.348565492859944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -664.21337475274,
+            521.1313200202403,
+            -15.348565492859944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -665.71337475274,
+            518.5332438088869,
+            -15.348565492859944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -667.21337475274,
+            515.9351675975336,
+            -15.348565492859944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -668.71337475274,
+            513.3370913861802,
+            -15.348565492859944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -670.21337475274,
+            510.7390151748269,
+            -15.348565492859944
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -670.21337475274,
+            510.7390151748269,
+            -15.348565492859944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -672.8114509640934,
+            509.2390151748269,
+            -15.348565492859944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -675.4095271754468,
+            507.7390151748269,
+            -15.348565492859944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -679.8386764526367,
+            506.54336738586426,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -678.0076033868002,
+            506.2390151748269,
+            -15.348565492859944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -680.6056795981535,
+            504.7390151748269,
+            -15.348565492859944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -683.2037558095069,
+            503.2390151748269,
+            -15.348565492859944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -685.8018320208603,
+            501.7390151748269,
+            -15.348565492859944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -688.3999082322136,
+            500.2390151748269,
+            -15.348565492859944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -690.997984443567,
+            498.7390151748269,
+            -15.348565492859944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -693.5960606549204,
+            497.2390151748269,
+            -15.348565492859944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -696.1941368662738,
+            495.7390151748269,
+            -15.348565492859944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -698.7922130776271,
+            494.2390151748269,
+            -15.348565492859944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -701.3902892889805,
+            492.7390151748269,
+            -15.348565492859944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -703.9883655003339,
+            491.2390151748269,
+            -15.348565492859944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -706.5864417116873,
+            489.7390151748269,
+            -15.348565492859944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -709.1845179230406,
+            488.2390151748269,
+            -15.348565492859944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -711.782594134394,
+            486.7390151748269,
+            -15.348565492859944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -714.3806703457474,
+            485.2390151748269,
+            -15.348565492859944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -716.9787465571007,
+            483.7390151748269,
+            -15.348565492859944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -719.5768227684541,
+            482.2390151748269,
+            -15.348565492859944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -722.1748989798075,
+            480.7390151748269,
+            -15.348565492859944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -724.7729751911609,
+            479.2390151748269,
+            -15.348565492859944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -727.3710514025142,
+            477.7390151748269,
+            -15.348565492859944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -729.9691276138676,
+            476.2390151748269,
+            -15.348565492859944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -732.567203825221,
+            474.7390151748269,
+            -15.348565492859944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -735.1652800365744,
+            473.2390151748269,
+            -15.348565492859944
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -735.1652800365744,
+            473.2390151748269,
+            -15.348565492859944
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -735.1652800365744,
+            473.2390151748269,
+            -15.348565492859944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.665191429188101
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -737.7633562479277,
+            474.7390151748269,
+            -15.348565492859944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -740.3614324592811,
+            476.2390151748269,
+            -15.348565492859944
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -743.1016082763672,
+            476.3916015625,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/long/2025-1-7_18-15-10_680466996/pose.jsonl b/Image/env_gs_sjtu02/astar_data/long/2025-1-7_18-15-10_680466996/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ae666340500b7c6d38d1e8062bbdaf5657a3f908
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/long/2025-1-7_18-15-10_680466996/pose.jsonl
@@ -0,0 +1,704 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -304.86931842060693,
+            696.6595840883282,
+            -6.669328719662406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -307.46739463196025,
+            695.1595840883282,
+            -6.669328719662406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -310.06547084331356,
+            693.6595840883282,
+            -6.669328719662406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -312.6635470546669,
+            692.1595840883282,
+            -6.669328719662406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -315.2616232660202,
+            690.6595840883282,
+            -6.669328719662406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -317.8596994773735,
+            689.1595840883282,
+            -6.669328719662406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -320.4577756887268,
+            687.6595840883282,
+            -6.669328719662406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -323.05585190008014,
+            686.1595840883282,
+            -6.669328719662406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -325.65392811143346,
+            684.6595840883282,
+            -6.669328719662406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -328.2520043227868,
+            683.1595840883282,
+            -6.669328719662406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -330.8500805341401,
+            681.6595840883282,
+            -6.669328719662406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -333.4481567454934,
+            680.1595840883282,
+            -6.669328719662406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -336.0462329568467,
+            678.6595840883282,
+            -6.669328719662406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -338.64430916820004,
+            677.1595840883282,
+            -6.669328719662406
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -338.64430916820004,
+            677.1595840883282,
+            -6.669328719662406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -340.14430916820004,
+            674.5615078769749,
+            -6.669328719662406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -341.64430916820004,
+            671.9634316656216,
+            -6.669328719662406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -343.14430916820004,
+            669.3653554542682,
+            -6.669328719662406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -344.64430916820004,
+            666.7672792429148,
+            -6.669328719662406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -346.14430916820004,
+            664.1692030315614,
+            -6.669328719662406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -347.64430916820004,
+            661.5711268202081,
+            -6.669328719662406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -349.14430916820004,
+            658.9730506088547,
+            -6.669328719662406
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -349.14430916820004,
+            658.9730506088547,
+            -6.669328719662406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -355.05054092407227,
+            655.1156425476074,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -351.74238537955335,
+            657.4730506088547,
+            -6.669328719662406
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -351.74238537955335,
+            657.4730506088547,
+            -6.669328719662406
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -351.74238537955335,
+            657.4730506088547,
+            -6.669328719662406
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.570796326794887
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -351.74238537955335,
+            657.4730506088547,
+            -6.669328719662406
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -351.74238537955335,
+            657.4730506088547,
+            -6.669328719662406
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -351.74238537955335,
+            657.4730506088547,
+            -6.669328719662406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -348.74238537955335,
+            657.4730506088547,
+            -6.669328719662406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -345.74238537955335,
+            657.4730506088547,
+            -6.669328719662406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -342.74238537955335,
+            657.4730506088547,
+            -6.669328719662406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -339.74238537955335,
+            657.4730506088547,
+            -6.669328719662406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -336.74238537955335,
+            657.4730506088547,
+            -6.669328719662406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -333.74238537955335,
+            657.4730506088547,
+            -6.669328719662406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -330.74238537955335,
+            657.4730506088547,
+            -6.669328719662406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -327.74238537955335,
+            657.4730506088547,
+            -6.669328719662406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -324.74238537955335,
+            657.4730506088547,
+            -6.669328719662406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -321.74238537955335,
+            657.4730506088547,
+            -6.669328719662406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -318.74238537955335,
+            657.4730506088547,
+            -6.669328719662406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -315.74238537955335,
+            657.4730506088547,
+            -6.669328719662406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -312.74238537955335,
+            657.4730506088547,
+            -6.669328719662406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -309.74238537955335,
+            657.4730506088547,
+            -6.669328719662406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -306.74238537955335,
+            657.4730506088547,
+            -6.669328719662406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -303.74238537955335,
+            657.4730506088547,
+            -6.669328719662406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -300.74238537955335,
+            657.4730506088547,
+            -6.669328719662406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -297.74238537955335,
+            657.4730506088547,
+            -6.669328719662406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -294.74238537955335,
+            657.4730506088547,
+            -6.669328719662406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -291.74238537955335,
+            657.4730506088547,
+            -6.669328719662406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -288.74238537955335,
+            657.4730506088547,
+            -6.669328719662406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -285.74238537955335,
+            657.4730506088547,
+            -6.669328719662406
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -282.74238537955335,
+            657.4730506088547,
+            -6.669328719662406
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -280.3515796661377,
+            656.0998382568359,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/long/2025-1-7_18-35-35_1308044878/pose.jsonl b/Image/env_gs_sjtu02/astar_data/long/2025-1-7_18-35-35_1308044878/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b61c318949f49aa9f76bd08449aa1bf16c29583d
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/long/2025-1-7_18-35-35_1308044878/pose.jsonl
@@ -0,0 +1,2719 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -508.18486526204936,
+            36.39999082500135,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -508.18486526204936,
+            39.39999082500135,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -508.18486526204936,
+            42.39999082500135,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -508.18486526204936,
+            45.39999082500135,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -508.18486526204936,
+            48.39999082500135,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -508.18486526204936,
+            51.39999082500135,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -508.18486526204936,
+            54.39999082500135,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -508.18486526204936,
+            57.39999082500135,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -508.18486526204936,
+            60.39999082500135,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -508.18486526204936,
+            63.39999082500135,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -508.18486526204936,
+            66.39999082500135,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -508.18486526204936,
+            69.39999082500135,
+            -5.5819442926844935
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -508.18486526204936,
+            69.39999082500135,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -509.68486526204936,
+            71.99806703635467,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -511.18486526204936,
+            74.59614324770799,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -512.6848652620494,
+            77.1942194590613,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -514.1848652620494,
+            79.79229567041462,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -515.6848652620494,
+            82.39037188176793,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -519.9884490966797,
+            86.51605033874512,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -517.1848652620494,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -517.1848652620494,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -517.1848652620494,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -517.1848652620494,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982987
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -517.1848652620494,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -517.1848652620494,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -514.1848652620494,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -511.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -508.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -505.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -502.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -499.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -496.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -493.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -490.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -487.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -484.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -481.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -478.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -475.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -472.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -469.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -466.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -463.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -460.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -457.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -454.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -451.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -448.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -445.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -442.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -439.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -436.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -433.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -430.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -427.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -424.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -421.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -418.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            -415.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            -412.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            -409.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            -406.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            -403.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            -400.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            -397.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            -394.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            -391.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            -388.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            -385.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            -382.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            -379.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            -376.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            -373.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            -370.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            -367.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            -364.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            -361.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            -358.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            -355.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            -352.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            -349.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 81,
+        "pos": [
+            -346.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 82,
+        "pos": [
+            -343.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 83,
+        "pos": [
+            -340.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 84,
+        "pos": [
+            -337.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 85,
+        "pos": [
+            -334.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 86,
+        "pos": [
+            -331.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 87,
+        "pos": [
+            -328.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 88,
+        "pos": [
+            -325.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 89,
+        "pos": [
+            -322.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 90,
+        "pos": [
+            -319.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 91,
+        "pos": [
+            -316.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 92,
+        "pos": [
+            -313.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 93,
+        "pos": [
+            -310.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 94,
+        "pos": [
+            -307.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 95,
+        "pos": [
+            -304.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 96,
+        "pos": [
+            -301.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 97,
+        "pos": [
+            -298.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 98,
+        "pos": [
+            -295.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 99,
+        "pos": [
+            -292.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 100,
+        "pos": [
+            -289.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 101,
+        "pos": [
+            -286.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 102,
+        "pos": [
+            -283.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 103,
+        "pos": [
+            -280.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 104,
+        "pos": [
+            -277.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 105,
+        "pos": [
+            -274.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 106,
+        "pos": [
+            -271.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 107,
+        "pos": [
+            -268.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 108,
+        "pos": [
+            -265.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 109,
+        "pos": [
+            -262.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 110,
+        "pos": [
+            -259.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 111,
+        "pos": [
+            -256.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 112,
+        "pos": [
+            -253.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 113,
+        "pos": [
+            -250.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 114,
+        "pos": [
+            -247.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 115,
+        "pos": [
+            -244.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 116,
+        "pos": [
+            -241.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 117,
+        "pos": [
+            -238.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 118,
+        "pos": [
+            -235.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 119,
+        "pos": [
+            -232.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 120,
+        "pos": [
+            -229.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 121,
+        "pos": [
+            -226.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 122,
+        "pos": [
+            -223.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 123,
+        "pos": [
+            -220.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 124,
+        "pos": [
+            -217.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 125,
+        "pos": [
+            -214.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 126,
+        "pos": [
+            -211.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 127,
+        "pos": [
+            -208.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 128,
+        "pos": [
+            -205.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 129,
+        "pos": [
+            -202.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 130,
+        "pos": [
+            -199.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 131,
+        "pos": [
+            -196.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 132,
+        "pos": [
+            -193.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 133,
+        "pos": [
+            -190.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 134,
+        "pos": [
+            -187.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 135,
+        "pos": [
+            -184.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 136,
+        "pos": [
+            -181.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 137,
+        "pos": [
+            -178.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 138,
+        "pos": [
+            -175.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 139,
+        "pos": [
+            -172.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 140,
+        "pos": [
+            -169.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 141,
+        "pos": [
+            -166.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 142,
+        "pos": [
+            -163.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 143,
+        "pos": [
+            -160.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 144,
+        "pos": [
+            -157.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 145,
+        "pos": [
+            -154.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 146,
+        "pos": [
+            -151.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 147,
+        "pos": [
+            -148.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 148,
+        "pos": [
+            -145.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 149,
+        "pos": [
+            -142.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 150,
+        "pos": [
+            -139.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 151,
+        "pos": [
+            -136.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 152,
+        "pos": [
+            -136.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 153,
+        "pos": [
+            -136.18486526204936,
+            84.98844809312125,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 154,
+        "pos": [
+            -134.68486526204936,
+            82.39037188176793,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 155,
+        "pos": [
+            -133.18486526204936,
+            79.79229567041462,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 156,
+        "pos": [
+            -131.68486526204936,
+            77.1942194590613,
+            -5.5819442926844935
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 157,
+        "pos": [
+            -131.68486526204936,
+            77.1942194590613,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 158,
+        "pos": [
+            -129.08678905069604,
+            75.6942194590613,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 159,
+        "pos": [
+            -126.48871283934272,
+            74.1942194590613,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 160,
+        "pos": [
+            -123.89063662798941,
+            72.6942194590613,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 161,
+        "pos": [
+            -121.29256041663609,
+            71.1942194590613,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 162,
+        "pos": [
+            -118.69448420528278,
+            69.6942194590613,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 163,
+        "pos": [
+            -116.09640799392946,
+            68.1942194590613,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 164,
+        "pos": [
+            -113.49833178257614,
+            66.6942194590613,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 165,
+        "pos": [
+            -110.90025557122283,
+            65.1942194590613,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 166,
+        "pos": [
+            -108.30217935986951,
+            63.6942194590613,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 167,
+        "pos": [
+            -105.7041031485162,
+            62.1942194590613,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 168,
+        "pos": [
+            -103.10602693716288,
+            60.6942194590613,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 169,
+        "pos": [
+            -100.50795072580956,
+            59.1942194590613,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 170,
+        "pos": [
+            -97.90987451445625,
+            57.6942194590613,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 171,
+        "pos": [
+            -95.31179830310293,
+            56.1942194590613,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 172,
+        "pos": [
+            -92.71372209174962,
+            54.6942194590613,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 173,
+        "pos": [
+            -90.1156458803963,
+            53.1942194590613,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 174,
+        "pos": [
+            -87.51756966904298,
+            51.6942194590613,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 175,
+        "pos": [
+            -84.91949345768967,
+            50.1942194590613,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 176,
+        "pos": [
+            -82.32141724633635,
+            48.6942194590613,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 177,
+        "pos": [
+            -79.72334103498304,
+            47.1942194590613,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 178,
+        "pos": [
+            -77.12526482362972,
+            45.6942194590613,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 179,
+        "pos": [
+            -74.5271886122764,
+            44.1942194590613,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 180,
+        "pos": [
+            -71.92911240092309,
+            42.6942194590613,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 181,
+        "pos": [
+            -69.33103618956977,
+            41.1942194590613,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 182,
+        "pos": [
+            -66.73295997821646,
+            39.6942194590613,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 183,
+        "pos": [
+            -64.13488376686314,
+            38.1942194590613,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 184,
+        "pos": [
+            -61.536807555509824,
+            36.6942194590613,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 185,
+        "pos": [
+            -58.93873134415651,
+            35.1942194590613,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 186,
+        "pos": [
+            -56.34065513280319,
+            33.6942194590613,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 187,
+        "pos": [
+            -53.742578921449876,
+            32.1942194590613,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 188,
+        "pos": [
+            -51.14450271009656,
+            30.6942194590613,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 189,
+        "pos": [
+            -48.546426498743244,
+            29.1942194590613,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 190,
+        "pos": [
+            -45.94835028738993,
+            27.6942194590613,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 191,
+        "pos": [
+            -43.35027407603661,
+            26.1942194590613,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 192,
+        "pos": [
+            -40.752197864683296,
+            24.6942194590613,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 193,
+        "pos": [
+            -38.15412165332998,
+            23.1942194590613,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 194,
+        "pos": [
+            -35.556045441976664,
+            21.6942194590613,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 195,
+        "pos": [
+            -32.95796923062335,
+            20.1942194590613,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 196,
+        "pos": [
+            -30.359893019270032,
+            18.6942194590613,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 197,
+        "pos": [
+            -27.761816807916716,
+            17.1942194590613,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 198,
+        "pos": [
+            -25.1637405965634,
+            15.694219459061301,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 199,
+        "pos": [
+            -22.565664385210084,
+            14.194219459061301,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 200,
+        "pos": [
+            -19.967588173856768,
+            12.694219459061301,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 201,
+        "pos": [
+            -17.369511962503452,
+            11.194219459061301,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 202,
+        "pos": [
+            -14.771435751150136,
+            9.694219459061301,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 203,
+        "pos": [
+            -12.17335953979682,
+            8.194219459061301,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 204,
+        "pos": [
+            -9.575283328443504,
+            6.694219459061301,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 205,
+        "pos": [
+            -6.977207117090188,
+            5.194219459061301,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 206,
+        "pos": [
+            -4.379130905736872,
+            3.6942194590613013,
+            -5.5819442926844935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 207,
+        "pos": [
+            -1.7810546943835561,
+            2.1942194590613013,
+            -5.5819442926844935
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "",
+        "feature": "",
+        "position": [
+            0.0,
+            0.0,
+            0.0
+        ],
+        "shape": "",
+        "size": "",
+        "type": ""
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/long/2025-1-7_19-55-58_653448036/pose.jsonl b/Image/env_gs_sjtu02/astar_data/long/2025-1-7_19-55-58_653448036/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b619bae3245276045fed8daf38c86f3745610e82
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/long/2025-1-7_19-55-58_653448036/pose.jsonl
@@ -0,0 +1,2888 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -56.604942147992666,
+            621.1488132580619,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -58.104942147992666,
+            618.5507370467085,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -59.604942147992666,
+            615.9526608353551,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -61.104942147992666,
+            613.3545846240017,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -62.604942147992666,
+            610.7565084126484,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -64.10494214799266,
+            608.158432201295,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393184
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -65.60494214799266,
+            605.5603559899416,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -67.10494214799266,
+            602.9622797785883,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -68.60494214799266,
+            600.3642035672349,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -70.10494214799266,
+            597.7661273558815,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -71.60494214799266,
+            595.1680511445281,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -73.10494214799266,
+            592.5699749331748,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -74.60494214799266,
+            589.9718987218214,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -76.10494214799266,
+            587.373822510468,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -77.60494214799266,
+            584.7757462991146,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -79.10494214799266,
+            582.1776700877613,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -80.60494214799266,
+            579.5795938764079,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -82.10494214799266,
+            576.9815176650545,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -83.60494214799266,
+            574.3834414537012,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -85.75577020645142,
+            568.0404148101807,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -85.10494214799266,
+            571.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -85.10494214799266,
+            571.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -85.10494214799266,
+            568.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -85.10494214799266,
+            565.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -85.10494214799266,
+            562.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -85.10494214799266,
+            559.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -85.10494214799266,
+            556.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -85.10494214799266,
+            553.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -85.10494214799266,
+            550.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -85.10494214799266,
+            547.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -85.10494214799266,
+            544.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -85.10494214799266,
+            541.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -85.10494214799266,
+            538.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -85.10494214799266,
+            535.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -85.10494214799266,
+            532.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -85.10494214799266,
+            529.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -85.10494214799266,
+            526.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -85.10494214799266,
+            523.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -85.10494214799266,
+            520.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -85.10494214799266,
+            517.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -85.10494214799266,
+            514.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -85.10494214799266,
+            511.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -85.10494214799266,
+            508.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -85.10494214799266,
+            505.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -85.10494214799266,
+            502.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -85.10494214799266,
+            499.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -85.10494214799266,
+            496.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -85.10494214799266,
+            493.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -85.10494214799266,
+            490.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -85.10494214799266,
+            487.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -85.10494214799266,
+            484.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -85.10494214799266,
+            481.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -85.10494214799266,
+            478.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -85.10494214799266,
+            475.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -85.10494214799266,
+            472.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -85.10494214799266,
+            469.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -85.10494214799266,
+            466.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -85.10494214799266,
+            463.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            -85.10494214799266,
+            460.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            -85.10494214799266,
+            457.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            -85.10494214799266,
+            454.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            -85.10494214799266,
+            451.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            -85.10494214799266,
+            448.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            -85.10494214799266,
+            445.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            -85.10494214799266,
+            442.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            -85.10494214799266,
+            439.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            -85.10494214799266,
+            436.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            -85.10494214799266,
+            433.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            -85.10494214799266,
+            430.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            -85.10494214799266,
+            427.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            -85.10494214799266,
+            424.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            -85.10494214799266,
+            421.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            -85.10494214799266,
+            418.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            -85.10494214799266,
+            415.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            -85.10494214799266,
+            412.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            -85.10494214799266,
+            409.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            -85.10494214799266,
+            406.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            -85.10494214799266,
+            403.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            -85.10494214799266,
+            400.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            -85.10494214799266,
+            397.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            -85.10494214799266,
+            394.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 81,
+        "pos": [
+            -85.10494214799266,
+            391.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 82,
+        "pos": [
+            -85.10494214799266,
+            388.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 83,
+        "pos": [
+            -85.10494214799266,
+            385.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 84,
+        "pos": [
+            -85.10494214799266,
+            382.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 85,
+        "pos": [
+            -85.10494214799266,
+            379.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 86,
+        "pos": [
+            -85.10494214799266,
+            376.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 87,
+        "pos": [
+            -85.10494214799266,
+            373.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 88,
+        "pos": [
+            -85.10494214799266,
+            370.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 89,
+        "pos": [
+            -85.10494214799266,
+            367.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 90,
+        "pos": [
+            -85.10494214799266,
+            364.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 91,
+        "pos": [
+            -85.10494214799266,
+            361.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 92,
+        "pos": [
+            -85.10494214799266,
+            358.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 93,
+        "pos": [
+            -85.10494214799266,
+            355.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 94,
+        "pos": [
+            -85.10494214799266,
+            352.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 95,
+        "pos": [
+            -85.10494214799266,
+            349.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 96,
+        "pos": [
+            -85.10494214799266,
+            346.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 97,
+        "pos": [
+            -85.10494214799266,
+            343.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 98,
+        "pos": [
+            -85.10494214799266,
+            340.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 99,
+        "pos": [
+            -85.10494214799266,
+            337.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 100,
+        "pos": [
+            -85.10494214799266,
+            334.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 101,
+        "pos": [
+            -85.10494214799266,
+            331.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 102,
+        "pos": [
+            -85.10494214799266,
+            328.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 103,
+        "pos": [
+            -85.10494214799266,
+            325.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 104,
+        "pos": [
+            -85.10494214799266,
+            322.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 105,
+        "pos": [
+            -85.10494214799266,
+            319.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 106,
+        "pos": [
+            -85.10494214799266,
+            316.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 107,
+        "pos": [
+            -85.10494214799266,
+            313.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 108,
+        "pos": [
+            -85.10494214799266,
+            310.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 109,
+        "pos": [
+            -85.10494214799266,
+            307.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 110,
+        "pos": [
+            -85.10494214799266,
+            304.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 111,
+        "pos": [
+            -85.10494214799266,
+            301.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 112,
+        "pos": [
+            -85.10494214799266,
+            298.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 113,
+        "pos": [
+            -85.10494214799266,
+            295.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 114,
+        "pos": [
+            -85.10494214799266,
+            292.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 115,
+        "pos": [
+            -85.10494214799266,
+            289.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 116,
+        "pos": [
+            -85.10494214799266,
+            286.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 117,
+        "pos": [
+            -85.10494214799266,
+            283.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 118,
+        "pos": [
+            -85.10494214799266,
+            280.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 119,
+        "pos": [
+            -85.10494214799266,
+            277.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 120,
+        "pos": [
+            -85.10494214799266,
+            274.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 121,
+        "pos": [
+            -85.10494214799266,
+            271.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 122,
+        "pos": [
+            -85.10494214799266,
+            268.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 123,
+        "pos": [
+            -85.10494214799266,
+            265.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 124,
+        "pos": [
+            -85.10494214799266,
+            262.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 125,
+        "pos": [
+            -85.10494214799266,
+            259.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 126,
+        "pos": [
+            -85.10494214799266,
+            256.7853652423478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 127,
+        "pos": [
+            -85.10494214799266,
+            253.78536524234778,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 128,
+        "pos": [
+            -85.10494214799266,
+            250.78536524234778,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 129,
+        "pos": [
+            -85.10494214799266,
+            247.78536524234778,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 130,
+        "pos": [
+            -85.10494214799266,
+            244.78536524234778,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 131,
+        "pos": [
+            -85.10494214799266,
+            241.78536524234778,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 132,
+        "pos": [
+            -85.10494214799266,
+            238.78536524234778,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 133,
+        "pos": [
+            -85.10494214799266,
+            235.78536524234778,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 134,
+        "pos": [
+            -85.10494214799266,
+            232.78536524234778,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 135,
+        "pos": [
+            -85.10494214799266,
+            229.78536524234778,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 136,
+        "pos": [
+            -85.10494214799266,
+            226.78536524234778,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 137,
+        "pos": [
+            -85.10494214799266,
+            223.78536524234778,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 138,
+        "pos": [
+            -85.10494214799266,
+            220.78536524234778,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 139,
+        "pos": [
+            -85.10494214799266,
+            217.78536524234778,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 140,
+        "pos": [
+            -85.10494214799266,
+            214.78536524234778,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 141,
+        "pos": [
+            -85.10494214799266,
+            211.78536524234778,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 142,
+        "pos": [
+            -85.10494214799266,
+            208.78536524234778,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 143,
+        "pos": [
+            -85.10494214799266,
+            205.78536524234778,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 144,
+        "pos": [
+            -85.10494214799266,
+            202.78536524234778,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 145,
+        "pos": [
+            -85.10494214799266,
+            199.78536524234778,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 146,
+        "pos": [
+            -85.10494214799266,
+            196.78536524234778,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 147,
+        "pos": [
+            -85.10494214799266,
+            193.78536524234778,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 148,
+        "pos": [
+            -85.10494214799266,
+            190.78536524234778,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 149,
+        "pos": [
+            -85.10494214799266,
+            187.78536524234778,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 150,
+        "pos": [
+            -85.10494214799266,
+            184.78536524234778,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 151,
+        "pos": [
+            -85.10494214799266,
+            181.78536524234778,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 152,
+        "pos": [
+            -85.10494214799266,
+            178.78536524234778,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 153,
+        "pos": [
+            -85.10494214799266,
+            175.78536524234778,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 154,
+        "pos": [
+            -85.10494214799266,
+            172.78536524234778,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 155,
+        "pos": [
+            -85.10494214799266,
+            169.78536524234778,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 156,
+        "pos": [
+            -85.10494214799266,
+            166.78536524234778,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 157,
+        "pos": [
+            -85.10494214799266,
+            163.78536524234778,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 158,
+        "pos": [
+            -85.10494214799266,
+            160.78536524234778,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 159,
+        "pos": [
+            -85.10494214799266,
+            157.78536524234778,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 160,
+        "pos": [
+            -85.10494214799266,
+            154.78536524234778,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 161,
+        "pos": [
+            -85.10494214799266,
+            151.78536524234778,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 162,
+        "pos": [
+            -85.10494214799266,
+            148.78536524234778,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 163,
+        "pos": [
+            -85.10494214799266,
+            145.78536524234778,
+            -2.0502291626130997
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 164,
+        "pos": [
+            -85.10494214799266,
+            145.78536524234778,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 165,
+        "pos": [
+            -83.60494214799266,
+            143.18728903099446,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 166,
+        "pos": [
+            -82.10494214799266,
+            140.58921281964115,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 167,
+        "pos": [
+            -80.60494214799266,
+            137.99113660828783,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 168,
+        "pos": [
+            -79.10494214799266,
+            135.39306039693452,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 169,
+        "pos": [
+            -77.60494214799266,
+            132.7949841855812,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 170,
+        "pos": [
+            -76.10494214799266,
+            130.19690797422788,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 171,
+        "pos": [
+            -74.60494214799266,
+            127.59883176287457,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 172,
+        "pos": [
+            -73.10494214799266,
+            125.00075555152125,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 173,
+        "pos": [
+            -71.60494214799266,
+            122.40267934016794,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 174,
+        "pos": [
+            -70.10494214799266,
+            119.80460312881462,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 175,
+        "pos": [
+            -68.60494214799266,
+            117.2065269174613,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 176,
+        "pos": [
+            -67.10494214799266,
+            114.60845070610799,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 177,
+        "pos": [
+            -65.60494214799266,
+            112.01037449475467,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 178,
+        "pos": [
+            -64.10494214799266,
+            109.41229828340136,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 179,
+        "pos": [
+            -62.60494214799266,
+            106.81422207204804,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 180,
+        "pos": [
+            -61.10494214799266,
+            104.21614586069472,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 181,
+        "pos": [
+            -59.60494214799266,
+            101.61806964934141,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 182,
+        "pos": [
+            -58.10494214799266,
+            99.01999343798809,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 183,
+        "pos": [
+            -56.60494214799266,
+            96.42191722663478,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 184,
+        "pos": [
+            -55.10494214799266,
+            93.82384101528146,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 185,
+        "pos": [
+            -53.60494214799266,
+            91.22576480392814,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 186,
+        "pos": [
+            -52.10494214799266,
+            88.62768859257483,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 187,
+        "pos": [
+            -50.60494214799266,
+            86.02961238122151,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 188,
+        "pos": [
+            -49.10494214799266,
+            83.4315361698682,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 189,
+        "pos": [
+            -47.60494214799266,
+            80.83345995851488,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 190,
+        "pos": [
+            -46.10494214799266,
+            78.23538374716156,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 191,
+        "pos": [
+            -44.60494214799266,
+            75.63730753580825,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 192,
+        "pos": [
+            -43.10494214799266,
+            73.03923132445493,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 193,
+        "pos": [
+            -41.60494214799266,
+            70.44115511310162,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 194,
+        "pos": [
+            -40.10494214799266,
+            67.8430789017483,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 195,
+        "pos": [
+            -38.60494214799266,
+            65.24500269039498,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 196,
+        "pos": [
+            -37.10494214799266,
+            62.64692647904167,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 197,
+        "pos": [
+            -35.60494214799266,
+            60.04885026768835,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 198,
+        "pos": [
+            -34.10494214799266,
+            57.450774056335035,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 199,
+        "pos": [
+            -32.60494214799266,
+            54.85269784498172,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 200,
+        "pos": [
+            -31.10494214799266,
+            52.2546216336284,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 201,
+        "pos": [
+            -29.60494214799266,
+            49.65654542227509,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 202,
+        "pos": [
+            -28.10494214799266,
+            47.05846921092177,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 203,
+        "pos": [
+            -26.60494214799266,
+            44.460392999568455,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 204,
+        "pos": [
+            -25.10494214799266,
+            41.86231678821514,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 205,
+        "pos": [
+            -23.60494214799266,
+            39.26424057686182,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 206,
+        "pos": [
+            -22.10494214799266,
+            36.66616436550851,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 207,
+        "pos": [
+            -20.60494214799266,
+            34.06808815415519,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 208,
+        "pos": [
+            -19.10494214799266,
+            31.470011942801875,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 209,
+        "pos": [
+            -17.60494214799266,
+            28.87193573144856,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 210,
+        "pos": [
+            -16.10494214799266,
+            26.273859520095243,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 211,
+        "pos": [
+            -14.60494214799266,
+            23.675783308741927,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 212,
+        "pos": [
+            -13.10494214799266,
+            21.07770709738861,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 213,
+        "pos": [
+            -11.60494214799266,
+            18.479630886035295,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 214,
+        "pos": [
+            -10.10494214799266,
+            15.88155467468198,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 215,
+        "pos": [
+            -8.60494214799266,
+            13.283478463328663,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 216,
+        "pos": [
+            -7.104942147992659,
+            10.685402251975347,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 217,
+        "pos": [
+            -5.604942147992659,
+            8.087326040622031,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 218,
+        "pos": [
+            -4.104942147992659,
+            5.489249829268715,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 219,
+        "pos": [
+            -2.604942147992659,
+            2.891173617915399,
+            -2.0502291626130997
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 220,
+        "pos": [
+            -1.1049421479926584,
+            0.29309740656208305,
+            -2.0502291626130997
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "aim_landmark": {
+        "color": "",
+        "feature": "",
+        "position": [
+            0.0,
+            0.0,
+            0.0
+        ],
+        "shape": "",
+        "size": "",
+        "type": ""
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/long/2025-1-7_19-55-7_1277849958/pose.jsonl b/Image/env_gs_sjtu02/astar_data/long/2025-1-7_19-55-7_1277849958/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..dc71cdde84e809e8c878d6501695c61d39f7b821
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/long/2025-1-7_19-55-7_1277849958/pose.jsonl
@@ -0,0 +1,561 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            14.374177562864027,
+            143.7578569695886,
+            -12.58052103984243
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            15.874177562864027,
+            146.35593318094192,
+            -12.58052103984243
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            17.374177562864027,
+            148.95400939229523,
+            -12.58052103984243
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            18.874177562864027,
+            151.55208560364855,
+            -12.58052103984243
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            20.374177562864027,
+            154.15016181500187,
+            -12.58052103984243
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            21.874177562864027,
+            156.74823802635518,
+            -12.58052103984243
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            23.374177562864027,
+            159.3463142377085,
+            -12.58052103984243
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            24.874177562864027,
+            161.9443904490618,
+            -12.58052103984243
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            26.374177562864027,
+            164.54246666041513,
+            -12.58052103984243
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            27.874177562864027,
+            167.14054287176845,
+            -12.58052103984243
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            29.374177562864027,
+            169.73861908312176,
+            -12.58052103984243
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            30.874177562864027,
+            172.33669529447508,
+            -12.58052103984243
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            32.37417756286403,
+            174.9347715058284,
+            -12.58052103984243
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            33.87417756286403,
+            177.5328477171817,
+            -12.58052103984243
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            35.37417756286403,
+            180.13092392853503,
+            -12.58052103984243
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            36.87417756286403,
+            182.72900013988834,
+            -12.58052103984243
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            38.37417756286403,
+            185.32707635124166,
+            -12.58052103984243
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            39.75375771522522,
+            190.4626169204712,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            39.87417756286403,
+            187.92515256259497,
+            -12.58052103984243
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            39.87417756286403,
+            187.92515256259497,
+            -12.58052103984243
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            39.87417756286403,
+            187.92515256259497,
+            -12.58052103984243
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.220446049250313e-16
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            39.87417756286403,
+            187.92515256259497,
+            -12.58052103984243
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982987
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            39.87417756286403,
+            187.92515256259497,
+            -12.58052103984243
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965974
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            39.87417756286403,
+            187.92515256259497,
+            -12.58052103984243
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            41.37417756286403,
+            185.32707635124166,
+            -12.58052103984243
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            42.87417756286403,
+            182.72900013988834,
+            -12.58052103984243
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            44.37417756286403,
+            180.13092392853503,
+            -12.58052103984243
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            45.87417756286403,
+            177.5328477171817,
+            -12.58052103984243
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            47.37417756286403,
+            174.9347715058284,
+            -12.58052103984243
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            48.87417756286403,
+            172.33669529447508,
+            -12.58052103984243
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            50.37417756286403,
+            169.73861908312176,
+            -12.58052103984243
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            51.87417756286403,
+            167.14054287176845,
+            -12.58052103984243
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            51.87417756286403,
+            167.14054287176845,
+            -12.58052103984243
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            54.47225377421734,
+            165.64054287176845,
+            -12.58052103984243
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            57.07032998557066,
+            164.14054287176845,
+            -12.58052103984243
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            59.668406196923975,
+            162.64054287176845,
+            -12.58052103984243
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            62.26648240827729,
+            161.14054287176845,
+            -12.58052103984243
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            64.8645586196306,
+            159.64054287176845,
+            -12.58052103984243
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            67.46263483098392,
+            158.14054287176845,
+            -12.58052103984243
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            70.06071104233723,
+            156.64054287176845,
+            -12.58052103984243
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            72.65878725369055,
+            155.14054287176845,
+            -12.58052103984243
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            75.25686346504386,
+            153.64054287176845,
+            -12.58052103984243
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            75.61396646499634,
+            150.75547695159912,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/long/2025-1-7_21-15-30_1243439214/pose.jsonl b/Image/env_gs_sjtu02/astar_data/long/2025-1-7_21-15-30_1243439214/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b12ced5617515060f49cde7965f832bff3e33082
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/long/2025-1-7_21-15-30_1243439214/pose.jsonl
@@ -0,0 +1,691 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -552.4168738545902,
+            744.2643128019533,
+            -11.379150883684307
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -555.0149500659436,
+            742.7643128019533,
+            -11.379150883684307
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -557.613026277297,
+            741.2643128019533,
+            -11.379150883684307
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -560.2111024886503,
+            739.7643128019533,
+            -11.379150883684307
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -562.8091787000037,
+            738.2643128019533,
+            -11.379150883684307
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -565.4072549113571,
+            736.7643128019533,
+            -11.379150883684307
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -568.0053311227105,
+            735.2643128019533,
+            -11.379150883684307
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -570.6034073340638,
+            733.7643128019533,
+            -11.379150883684307
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -573.2014835454172,
+            732.2643128019533,
+            -11.379150883684307
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -575.7995597567706,
+            730.7643128019533,
+            -11.379150883684307
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -578.397635968124,
+            729.2643128019533,
+            -11.379150883684307
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -580.9957121794773,
+            727.7643128019533,
+            -11.379150883684307
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -583.5937883908307,
+            726.2643128019533,
+            -11.379150883684307
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -586.1918646021841,
+            724.7643128019533,
+            -11.379150883684307
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -588.7899408135374,
+            723.2643128019533,
+            -11.379150883684307
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -591.3880170248908,
+            721.7643128019533,
+            -11.379150883684307
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -591.3880170248908,
+            721.7643128019533,
+            -11.379150883684307
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -594.3880170248908,
+            721.7643128019533,
+            -11.379150883684307
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -597.3880170248908,
+            721.7643128019533,
+            -11.379150883684307
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -600.3880170248908,
+            721.7643128019533,
+            -11.379150883684307
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -603.3880170248908,
+            721.7643128019533,
+            -11.379150883684307
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -606.3880170248908,
+            721.7643128019533,
+            -11.379150883684307
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -609.3880170248908,
+            721.7643128019533,
+            -11.379150883684307
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -612.3880170248908,
+            721.7643128019533,
+            -11.379150883684307
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -618.2195739746094,
+            720.5517921447754,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -615.3880170248908,
+            721.7643128019533,
+            -11.379150883684307
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -615.3880170248908,
+            721.7643128019533,
+            -11.379150883684307
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -615.3880170248908,
+            721.7643128019533,
+            -11.379150883684307
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -615.3880170248908,
+            721.7643128019533,
+            -11.379150883684307
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -615.3880170248908,
+            721.7643128019533,
+            -11.379150883684307
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -615.3880170248908,
+            718.7643128019533,
+            -11.379150883684307
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -615.3880170248908,
+            715.7643128019533,
+            -11.379150883684307
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -615.3880170248908,
+            712.7643128019533,
+            -11.379150883684307
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -615.3880170248908,
+            709.7643128019533,
+            -11.379150883684307
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -615.3880170248908,
+            706.7643128019533,
+            -11.379150883684307
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -615.3880170248908,
+            703.7643128019533,
+            -11.379150883684307
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -615.3880170248908,
+            700.7643128019533,
+            -11.379150883684307
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -615.3880170248908,
+            697.7643128019533,
+            -11.379150883684307
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -615.3880170248908,
+            694.7643128019533,
+            -11.379150883684307
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -615.3880170248908,
+            691.7643128019533,
+            -11.379150883684307
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -615.3880170248908,
+            688.7643128019533,
+            -11.379150883684307
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -615.3880170248908,
+            685.7643128019533,
+            -11.379150883684307
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -615.3880170248908,
+            682.7643128019533,
+            -11.379150883684307
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -615.3880170248908,
+            679.7643128019533,
+            -11.379150883684307
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -615.3880170248908,
+            679.7643128019533,
+            -11.379150883684307
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -613.8880170248908,
+            677.1662365906,
+            -11.379150883684307
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -612.3880170248908,
+            674.5681603792466,
+            -11.379150883684307
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -610.8880170248908,
+            671.9700841678932,
+            -11.379150883684307
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -609.3880170248908,
+            669.3720079565398,
+            -11.379150883684307
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -607.8880170248908,
+            666.7739317451865,
+            -11.379150883684307
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -606.3880170248908,
+            664.1758555338331,
+            -11.379150883684307
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -604.8880170248908,
+            661.5777793224797,
+            -11.379150883684307
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -604.2860908508301,
+            659.8240394592285,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/long/2025-1-7_22-13-30_1931513970/pose.jsonl b/Image/env_gs_sjtu02/astar_data/long/2025-1-7_22-13-30_1931513970/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3c03e47ef420328e2d3a28127cf17d579efb6971
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/long/2025-1-7_22-13-30_1931513970/pose.jsonl
@@ -0,0 +1,535 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -299.6431917228809,
+            366.0077150623425,
+            -14.12592430999656
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -298.1431917228809,
+            368.60579127369584,
+            -14.12592430999656
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -296.6431917228809,
+            371.20386748504916,
+            -14.12592430999656
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -295.1431917228809,
+            373.8019436964025,
+            -14.12592430999656
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -293.6431917228809,
+            376.4000199077558,
+            -14.12592430999656
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -292.1431917228809,
+            378.9980961191091,
+            -14.12592430999656
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -290.6431917228809,
+            381.5961723304624,
+            -14.12592430999656
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -289.1431917228809,
+            384.19424854181574,
+            -14.12592430999656
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -287.6431917228809,
+            386.79232475316905,
+            -14.12592430999656
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -286.1431917228809,
+            389.39040096452237,
+            -14.12592430999656
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -284.6431917228809,
+            391.9884771758757,
+            -14.12592430999656
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -283.1431917228809,
+            394.586553387229,
+            -14.12592430999656
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -283.1431917228809,
+            394.586553387229,
+            -14.12592430999656
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -283.1431917228809,
+            397.586553387229,
+            -14.12592430999656
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -283.1431917228809,
+            400.586553387229,
+            -14.12592430999656
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -283.1431917228809,
+            403.586553387229,
+            -14.12592430999656
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -283.1431917228809,
+            406.586553387229,
+            -14.12592430999656
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -283.1431917228809,
+            409.586553387229,
+            -14.12592430999656
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -283.1431917228809,
+            412.586553387229,
+            -14.12592430999656
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -283.36651706695557,
+            417.1455421447754,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -283.1431917228809,
+            415.586553387229,
+            -14.12592430999656
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -283.1431917228809,
+            415.586553387229,
+            -14.12592430999656
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -283.1431917228809,
+            415.586553387229,
+            -14.12592430999656
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -283.1431917228809,
+            415.586553387229,
+            -14.12592430999656
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -285.7412679342342,
+            417.086553387229,
+            -14.12592430999656
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -288.3393441455875,
+            418.586553387229,
+            -14.12592430999656
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -290.93742035694083,
+            420.086553387229,
+            -14.12592430999656
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -293.53549656829415,
+            421.586553387229,
+            -14.12592430999656
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -296.13357277964747,
+            423.086553387229,
+            -14.12592430999656
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -298.7316489910008,
+            424.586553387229,
+            -14.12592430999656
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -301.3297252023541,
+            426.086553387229,
+            -14.12592430999656
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -303.9278014137074,
+            427.586553387229,
+            -14.12592430999656
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -306.52587762506073,
+            429.086553387229,
+            -14.12592430999656
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -309.12395383641405,
+            430.586553387229,
+            -14.12592430999656
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -311.72203004776736,
+            432.086553387229,
+            -14.12592430999656
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -314.3201062591207,
+            433.586553387229,
+            -14.12592430999656
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -316.918182470474,
+            435.086553387229,
+            -14.12592430999656
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -319.5162586818273,
+            436.586553387229,
+            -14.12592430999656
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -322.1143348931806,
+            438.086553387229,
+            -14.12592430999656
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -324.71241110453394,
+            439.586553387229,
+            -14.12592430999656
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -325.696626663208,
+            442.2461929321289,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/long/2025-1-7_23-22-21_336465782/pose.jsonl b/Image/env_gs_sjtu02/astar_data/long/2025-1-7_23-22-21_336465782/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..dc84387b6788a390dc63f0d150b09f71f0187994
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/long/2025-1-7_23-22-21_336465782/pose.jsonl
@@ -0,0 +1,756 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -705.6816001140644,
+            819.2602807225854,
+            -1.4635308656024293
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -702.6816001140644,
+            819.2602807225854,
+            -1.4635308656024293
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -699.6816001140644,
+            819.2602807225854,
+            -1.4635308656024293
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -696.6816001140644,
+            819.2602807225854,
+            -1.4635308656024293
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -693.6816001140644,
+            819.2602807225854,
+            -1.4635308656024293
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -690.6816001140644,
+            819.2602807225854,
+            -1.4635308656024293
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -687.6816001140644,
+            819.2602807225854,
+            -1.4635308656024293
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -684.6816001140644,
+            819.2602807225854,
+            -1.4635308656024293
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -681.6816001140644,
+            819.2602807225854,
+            -1.4635308656024293
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -681.6816001140644,
+            819.2602807225854,
+            -1.4635308656024293
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -679.083523902711,
+            817.7602807225854,
+            -1.4635308656024293
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -676.4854476913576,
+            816.2602807225854,
+            -1.4635308656024293
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -673.8873714800043,
+            814.7602807225854,
+            -1.4635308656024293
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -671.2892952686509,
+            813.2602807225854,
+            -1.4635308656024293
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -668.6912190572975,
+            811.7602807225854,
+            -1.4635308656024293
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -666.0931428459442,
+            810.2602807225854,
+            -1.4635308656024293
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -663.4950666345908,
+            808.7602807225854,
+            -1.4635308656024293
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -660.8969904232374,
+            807.2602807225854,
+            -1.4635308656024293
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -658.298914211884,
+            805.7602807225854,
+            -1.4635308656024293
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -655.7008380005307,
+            804.2602807225854,
+            -1.4635308656024293
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -653.1027617891773,
+            802.7602807225854,
+            -1.4635308656024293
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -650.5046855778239,
+            801.2602807225854,
+            -1.4635308656024293
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -647.9066093664705,
+            799.7602807225854,
+            -1.4635308656024293
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -645.3085331551172,
+            798.2602807225854,
+            -1.4635308656024293
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -642.7104569437638,
+            796.7602807225854,
+            -1.4635308656024293
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -640.1123807324104,
+            795.2602807225854,
+            -1.4635308656024293
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -636.3482284545898,
+            792.3813362121582,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -637.514304521057,
+            793.7602807225854,
+            -1.4635308656024293
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -637.514304521057,
+            793.7602807225854,
+            -1.4635308656024293
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -637.514304521057,
+            793.7602807225854,
+            -1.4635308656024293
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.570796326794887
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -637.514304521057,
+            793.7602807225854,
+            -1.4635308656024293
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -637.514304521057,
+            790.7602807225854,
+            -1.4635308656024293
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -637.514304521057,
+            787.7602807225854,
+            -1.4635308656024293
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -637.514304521057,
+            784.7602807225854,
+            -1.4635308656024293
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -637.514304521057,
+            781.7602807225854,
+            -1.4635308656024293
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -637.514304521057,
+            778.7602807225854,
+            -1.4635308656024293
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -637.514304521057,
+            775.7602807225854,
+            -1.4635308656024293
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -637.514304521057,
+            772.7602807225854,
+            -1.4635308656024293
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -637.514304521057,
+            769.7602807225854,
+            -1.4635308656024293
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -637.514304521057,
+            766.7602807225854,
+            -1.4635308656024293
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -637.514304521057,
+            763.7602807225854,
+            -1.4635308656024293
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -637.514304521057,
+            760.7602807225854,
+            -1.4635308656024293
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -637.514304521057,
+            757.7602807225854,
+            -1.4635308656024293
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -637.514304521057,
+            754.7602807225854,
+            -1.4635308656024293
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -637.514304521057,
+            751.7602807225854,
+            -1.4635308656024293
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -637.514304521057,
+            751.7602807225854,
+            -1.4635308656024293
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -636.014304521057,
+            749.1622045112322,
+            -1.4635308656024293
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -634.514304521057,
+            746.5641282998788,
+            -1.4635308656024293
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -633.014304521057,
+            743.9660520885254,
+            -1.4635308656024293
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -631.514304521057,
+            741.3679758771721,
+            -1.4635308656024293
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -630.014304521057,
+            738.7698996658187,
+            -1.4635308656024293
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -628.514304521057,
+            736.1718234544653,
+            -1.4635308656024293
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -627.014304521057,
+            733.5737472431119,
+            -1.4635308656024293
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -625.514304521057,
+            730.9756710317586,
+            -1.4635308656024293
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -624.014304521057,
+            728.3775948204052,
+            -1.4635308656024293
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -622.514304521057,
+            725.7795186090518,
+            -1.4635308656024293
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -621.014304521057,
+            723.1814423976984,
+            -1.4635308656024293
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -618.2195739746094,
+            720.5517921447754,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/long/2025-1-8_0-21-39_1572276965/pose.jsonl b/Image/env_gs_sjtu02/astar_data/long/2025-1-8_0-21-39_1572276965/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..731f2afa46371c2162e1ab90d8cdffc04ed61d59
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/long/2025-1-8_0-21-39_1572276965/pose.jsonl
@@ -0,0 +1,743 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -682.820471328912,
+            656.8899710313119,
+            -9.415466911369219
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -684.320471328912,
+            654.2918948199585,
+            -9.415466911369219
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -685.820471328912,
+            651.6938186086052,
+            -9.415466911369219
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -687.320471328912,
+            649.0957423972518,
+            -9.415466911369219
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -688.820471328912,
+            646.4976661858984,
+            -9.415466911369219
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -690.320471328912,
+            643.899589974545,
+            -9.415466911369219
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -691.820471328912,
+            641.3015137631917,
+            -9.415466911369219
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -693.320471328912,
+            638.7034375518383,
+            -9.415466911369219
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -694.820471328912,
+            636.1053613404849,
+            -9.415466911369219
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -696.320471328912,
+            633.5072851291316,
+            -9.415466911369219
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -697.820471328912,
+            630.9092089177782,
+            -9.415466911369219
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -699.320471328912,
+            628.3111327064248,
+            -9.415466911369219
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -700.820471328912,
+            625.7130564950714,
+            -9.415466911369219
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -702.320471328912,
+            623.1149802837181,
+            -9.415466911369219
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -703.820471328912,
+            620.5169040723647,
+            -9.415466911369219
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -705.320471328912,
+            617.9188278610113,
+            -9.415466911369219
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -706.820471328912,
+            615.320751649658,
+            -9.415466911369219
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -708.320471328912,
+            612.7226754383046,
+            -9.415466911369219
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -709.820471328912,
+            610.1245992269512,
+            -9.415466911369219
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -711.320471328912,
+            607.5265230155978,
+            -9.415466911369219
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -712.820471328912,
+            604.9284468042445,
+            -9.415466911369219
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -714.320471328912,
+            602.3303705928911,
+            -9.415466911369219
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -715.820471328912,
+            599.7322943815377,
+            -9.415466911369219
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -715.820471328912,
+            599.7322943815377,
+            -9.415466911369219
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -715.820471328912,
+            599.7322943815377,
+            -9.415466911369219
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -714.6658248901367,
+            595.2243003845215,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -714.320471328912,
+            597.1342181701843,
+            -9.415466911369219
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -714.320471328912,
+            597.1342181701843,
+            -9.415466911369219
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.5235987755982895
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -714.320471328912,
+            597.1342181701843,
+            -9.415466911369219
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -711.320471328912,
+            597.1342181701843,
+            -9.415466911369219
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -708.320471328912,
+            597.1342181701843,
+            -9.415466911369219
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -705.320471328912,
+            597.1342181701843,
+            -9.415466911369219
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -702.320471328912,
+            597.1342181701843,
+            -9.415466911369219
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -699.320471328912,
+            597.1342181701843,
+            -9.415466911369219
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -696.320471328912,
+            597.1342181701843,
+            -9.415466911369219
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -696.320471328912,
+            597.1342181701843,
+            -9.415466911369219
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -696.320471328912,
+            597.1342181701843,
+            -9.415466911369219
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -694.820471328912,
+            594.536141958831,
+            -9.415466911369219
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -693.320471328912,
+            591.9380657474776,
+            -9.415466911369219
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -693.320471328912,
+            591.9380657474776,
+            -9.415466911369219
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -690.7223951175588,
+            590.4380657474776,
+            -9.415466911369219
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -688.1243189062054,
+            588.9380657474776,
+            -9.415466911369219
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -685.526242694852,
+            587.4380657474776,
+            -9.415466911369219
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -682.9281664834987,
+            585.9380657474776,
+            -9.415466911369219
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -680.3300902721453,
+            584.4380657474776,
+            -9.415466911369219
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -677.7320140607919,
+            582.9380657474776,
+            -9.415466911369219
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -675.1339378494386,
+            581.4380657474776,
+            -9.415466911369219
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -672.5358616380852,
+            579.9380657474776,
+            -9.415466911369219
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -669.9377854267318,
+            578.4380657474776,
+            -9.415466911369219
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -667.3397092153784,
+            576.9380657474776,
+            -9.415466911369219
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -664.7416330040251,
+            575.4380657474776,
+            -9.415466911369219
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -662.1435567926717,
+            573.9380657474776,
+            -9.415466911369219
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -659.5454805813183,
+            572.4380657474776,
+            -9.415466911369219
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -656.9474043699649,
+            570.9380657474776,
+            -9.415466911369219
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -654.3493281586116,
+            569.4380657474776,
+            -9.415466911369219
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -651.7512519472582,
+            567.9380657474776,
+            -9.415466911369219
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -648.0125312805176,
+            566.9365558624268,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/long/2025-1-8_0-4-31_1892066601/pose.jsonl b/Image/env_gs_sjtu02/astar_data/long/2025-1-8_0-4-31_1892066601/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a66dfdc5ee196a28e3cbb301c940327f233a6cfc
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/long/2025-1-8_0-4-31_1892066601/pose.jsonl
@@ -0,0 +1,678 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -313.25726601049337,
+            328.8769100988831,
+            -9.900889496091782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -314.75726601049337,
+            331.47498631023643,
+            -9.900889496091782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -316.25726601049337,
+            334.07306252158975,
+            -9.900889496091782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -317.75726601049337,
+            336.67113873294306,
+            -9.900889496091782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -319.25726601049337,
+            339.2692149442964,
+            -9.900889496091782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -320.75726601049337,
+            341.8672911556497,
+            -9.900889496091782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -322.25726601049337,
+            344.465367367003,
+            -9.900889496091782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -323.75726601049337,
+            347.0634435783563,
+            -9.900889496091782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -325.25726601049337,
+            349.66151978970964,
+            -9.900889496091782
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -325.25726601049337,
+            349.66151978970964,
+            -9.900889496091782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -327.8553422218467,
+            351.16151978970964,
+            -9.900889496091782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -330.4534184332,
+            352.66151978970964,
+            -9.900889496091782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -333.0514946445533,
+            354.16151978970964,
+            -9.900889496091782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -335.64957085590663,
+            355.66151978970964,
+            -9.900889496091782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -338.24764706725995,
+            357.16151978970964,
+            -9.900889496091782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -340.84572327861326,
+            358.66151978970964,
+            -9.900889496091782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -343.4437994899666,
+            360.16151978970964,
+            -9.900889496091782
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -343.4437994899666,
+            360.16151978970964,
+            -9.900889496091782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -344.9437994899666,
+            362.75959600106296,
+            -9.900889496091782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -346.4437994899666,
+            365.3576722124163,
+            -9.900889496091782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -350.09701919555664,
+            369.4403533935547,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -347.9437994899666,
+            367.9557484237696,
+            -9.900889496091782
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -347.9437994899666,
+            367.9557484237696,
+            -9.900889496091782
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -347.9437994899666,
+            367.9557484237696,
+            -9.900889496091782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -346.4437994899666,
+            370.5538246351229,
+            -9.900889496091782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -344.9437994899666,
+            373.1519008464762,
+            -9.900889496091782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -343.4437994899666,
+            375.74997705782954,
+            -9.900889496091782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -341.9437994899666,
+            378.34805326918286,
+            -9.900889496091782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -340.4437994899666,
+            380.9461294805362,
+            -9.900889496091782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -338.9437994899666,
+            383.5442056918895,
+            -9.900889496091782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -337.4437994899666,
+            386.1422819032428,
+            -9.900889496091782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -335.9437994899666,
+            388.7403581145961,
+            -9.900889496091782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -334.4437994899666,
+            391.33843432594944,
+            -9.900889496091782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -332.9437994899666,
+            393.93651053730275,
+            -9.900889496091782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -331.4437994899666,
+            396.53458674865607,
+            -9.900889496091782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -329.9437994899666,
+            399.1326629600094,
+            -9.900889496091782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -328.4437994899666,
+            401.7307391713627,
+            -9.900889496091782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -326.9437994899666,
+            404.328815382716,
+            -9.900889496091782
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -326.9437994899666,
+            404.328815382716,
+            -9.900889496091782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -326.9437994899666,
+            407.328815382716,
+            -9.900889496091782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -326.9437994899666,
+            410.328815382716,
+            -9.900889496091782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -326.9437994899666,
+            413.328815382716,
+            -9.900889496091782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -326.9437994899666,
+            416.328815382716,
+            -9.900889496091782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -326.9437994899666,
+            419.328815382716,
+            -9.900889496091782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -326.9437994899666,
+            422.328815382716,
+            -9.900889496091782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -326.9437994899666,
+            425.328815382716,
+            -9.900889496091782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -326.9437994899666,
+            428.328815382716,
+            -9.900889496091782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -326.9437994899666,
+            431.328815382716,
+            -9.900889496091782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -326.9437994899666,
+            434.328815382716,
+            -9.900889496091782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -326.9437994899666,
+            437.328815382716,
+            -9.900889496091782
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -326.9437994899666,
+            440.328815382716,
+            -9.900889496091782
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -325.696626663208,
+            442.2461929321289,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/long/2025-1-8_0-47-26_1275373743/pose.jsonl b/Image/env_gs_sjtu02/astar_data/long/2025-1-8_0-47-26_1275373743/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5dc29665a30cd3713b2639822cbc321de1088bd9
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/long/2025-1-8_0-47-26_1275373743/pose.jsonl
@@ -0,0 +1,626 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -181.3175134420653,
+            638.7510175255117,
+            -3.1459979494336956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -182.8175134420653,
+            636.1529413141584,
+            -3.1459979494336956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -184.3175134420653,
+            633.554865102805,
+            -3.1459979494336956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -185.8175134420653,
+            630.9567888914517,
+            -3.1459979494336956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -187.3175134420653,
+            628.3587126800983,
+            -3.1459979494336956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -188.8175134420653,
+            625.7606364687449,
+            -3.1459979494336956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -190.3175134420653,
+            623.1625602573915,
+            -3.1459979494336956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -191.8175134420653,
+            620.5644840460382,
+            -3.1459979494336956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -193.3175134420653,
+            617.9664078346848,
+            -3.1459979494336956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -194.8175134420653,
+            615.3683316233314,
+            -3.1459979494336956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -196.3175134420653,
+            612.770255411978,
+            -3.1459979494336956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -197.8175134420653,
+            610.1721792006247,
+            -3.1459979494336956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -199.3175134420653,
+            607.5741029892713,
+            -3.1459979494336956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -200.8175134420653,
+            604.9760267779179,
+            -3.1459979494336956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -202.3175134420653,
+            602.3779505665646,
+            -3.1459979494336956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -203.8175134420653,
+            599.7798743552112,
+            -3.1459979494336956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -205.3175134420653,
+            597.1817981438578,
+            -3.1459979494336956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -206.8175134420653,
+            594.5837219325044,
+            -3.1459979494336956
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -206.8175134420653,
+            594.5837219325044,
+            -3.1459979494336956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -206.8175134420653,
+            591.5837219325044,
+            -3.1459979494336956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -206.8175134420653,
+            588.5837219325044,
+            -3.1459979494336956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -206.8175134420653,
+            585.5837219325044,
+            -3.1459979494336956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -206.81848335266113,
+            579.483003616333,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -206.8175134420653,
+            582.5837219325044,
+            -3.1459979494336956
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -206.8175134420653,
+            582.5837219325044,
+            -3.1459979494336956
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -206.8175134420653,
+            582.5837219325044,
+            -3.1459979494336956
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -206.8175134420653,
+            582.5837219325044,
+            -3.1459979494336956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -209.4155896534186,
+            581.0837219325044,
+            -3.1459979494336956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -212.01366586477192,
+            579.5837219325044,
+            -3.1459979494336956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -214.61174207612524,
+            578.0837219325044,
+            -3.1459979494336956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -217.20981828747856,
+            576.5837219325044,
+            -3.1459979494336956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -219.80789449883187,
+            575.0837219325044,
+            -3.1459979494336956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -222.4059707101852,
+            573.5837219325044,
+            -3.1459979494336956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -225.0040469215385,
+            572.0837219325044,
+            -3.1459979494336956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -227.60212313289182,
+            570.5837219325044,
+            -3.1459979494336956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -230.20019934424514,
+            569.0837219325044,
+            -3.1459979494336956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -232.79827555559845,
+            567.5837219325044,
+            -3.1459979494336956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -235.39635176695177,
+            566.0837219325044,
+            -3.1459979494336956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -237.99442797830508,
+            564.5837219325044,
+            -3.1459979494336956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -240.5925041896584,
+            563.0837219325044,
+            -3.1459979494336956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -243.19058040101172,
+            561.5837219325044,
+            -3.1459979494336956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -245.78865661236503,
+            560.0837219325044,
+            -3.1459979494336956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -248.38673282371835,
+            558.5837219325044,
+            -3.1459979494336956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -250.98480903507166,
+            557.0837219325044,
+            -3.1459979494336956
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -250.98480903507166,
+            557.0837219325044,
+            -3.1459979494336956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -252.48480903507166,
+            554.4856457211511,
+            -3.1459979494336956
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -253.98480903507166,
+            551.8875695097977,
+            -3.1459979494336956
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -254.11329460144043,
+            550.4007053375244,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/long/2025-1-8_0-53-9_1476153275/pose.jsonl b/Image/env_gs_sjtu02/astar_data/long/2025-1-8_0-53-9_1476153275/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3622ef24d611fb86f536293b4ea20be064887987
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/long/2025-1-8_0-53-9_1476153275/pose.jsonl
@@ -0,0 +1,795 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -281.69365250277514,
+            337.006946492777,
+            -6.777304184506882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -284.29172871412845,
+            338.506946492777,
+            -6.777304184506882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -286.88980492548177,
+            340.006946492777,
+            -6.777304184506882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -289.4878811368351,
+            341.506946492777,
+            -6.777304184506882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -292.0859573481884,
+            343.006946492777,
+            -6.777304184506882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -294.6840335595417,
+            344.506946492777,
+            -6.777304184506882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -297.28210977089503,
+            346.006946492777,
+            -6.777304184506882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -299.88018598224835,
+            347.506946492777,
+            -6.777304184506882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -302.47826219360167,
+            349.006946492777,
+            -6.777304184506882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -305.076338404955,
+            350.506946492777,
+            -6.777304184506882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -307.6744146163083,
+            352.006946492777,
+            -6.777304184506882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -310.2724908276616,
+            353.506946492777,
+            -6.777304184506882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -312.87056703901493,
+            355.006946492777,
+            -6.777304184506882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -315.46864325036825,
+            356.506946492777,
+            -6.777304184506882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -318.06671946172156,
+            358.006946492777,
+            -6.777304184506882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -320.6647956730749,
+            359.506946492777,
+            -6.777304184506882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -323.2628718844282,
+            361.006946492777,
+            -6.777304184506882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -325.8609480957815,
+            362.506946492777,
+            -6.777304184506882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -328.4590243071348,
+            364.006946492777,
+            -6.777304184506882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -331.05710051848814,
+            365.506946492777,
+            -6.777304184506882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -333.65517672984146,
+            367.006946492777,
+            -6.777304184506882
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -333.65517672984146,
+            367.006946492777,
+            -6.777304184506882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -336.65517672984146,
+            367.006946492777,
+            -6.777304184506882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -339.65517672984146,
+            367.006946492777,
+            -6.777304184506882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -342.65517672984146,
+            367.006946492777,
+            -6.777304184506882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -345.65517672984146,
+            367.006946492777,
+            -6.777304184506882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -350.09701919555664,
+            369.4403533935547,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -348.65517672984146,
+            367.006946492777,
+            -6.777304184506882
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -348.65517672984146,
+            367.006946492777,
+            -6.777304184506882
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -348.65517672984146,
+            367.006946492777,
+            -6.777304184506882
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -348.65517672984146,
+            367.006946492777,
+            -6.777304184506882
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -348.65517672984146,
+            367.006946492777,
+            -6.777304184506882
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -348.65517672984146,
+            367.006946492777,
+            -6.777304184506882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -347.15517672984146,
+            369.6050227041303,
+            -6.777304184506882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -345.65517672984146,
+            372.2030989154836,
+            -6.777304184506882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -344.15517672984146,
+            374.80117512683694,
+            -6.777304184506882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -342.65517672984146,
+            377.39925133819025,
+            -6.777304184506882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -341.15517672984146,
+            379.99732754954357,
+            -6.777304184506882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -339.65517672984146,
+            382.5954037608969,
+            -6.777304184506882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -338.15517672984146,
+            385.1934799722502,
+            -6.777304184506882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -336.65517672984146,
+            387.7915561836035,
+            -6.777304184506882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -335.15517672984146,
+            390.38963239495683,
+            -6.777304184506882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -333.65517672984146,
+            392.98770860631015,
+            -6.777304184506882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -332.15517672984146,
+            395.58578481766347,
+            -6.777304184506882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -330.65517672984146,
+            398.1838610290168,
+            -6.777304184506882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -329.15517672984146,
+            400.7819372403701,
+            -6.777304184506882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -327.65517672984146,
+            403.3800134517234,
+            -6.777304184506882
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -327.65517672984146,
+            403.3800134517234,
+            -6.777304184506882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -327.65517672984146,
+            406.3800134517234,
+            -6.777304184506882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -327.65517672984146,
+            409.3800134517234,
+            -6.777304184506882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -327.65517672984146,
+            412.3800134517234,
+            -6.777304184506882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -327.65517672984146,
+            415.3800134517234,
+            -6.777304184506882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -327.65517672984146,
+            418.3800134517234,
+            -6.777304184506882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -327.65517672984146,
+            421.3800134517234,
+            -6.777304184506882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -327.65517672984146,
+            424.3800134517234,
+            -6.777304184506882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -327.65517672984146,
+            427.3800134517234,
+            -6.777304184506882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -327.65517672984146,
+            430.3800134517234,
+            -6.777304184506882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -327.65517672984146,
+            433.3800134517234,
+            -6.777304184506882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            -327.65517672984146,
+            436.3800134517234,
+            -6.777304184506882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            -327.65517672984146,
+            439.3800134517234,
+            -6.777304184506882
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -325.696626663208,
+            442.2461929321289,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/long/2025-1-8_10-29-30_1610009097/pose.jsonl b/Image/env_gs_sjtu02/astar_data/long/2025-1-8_10-29-30_1610009097/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9a92a9f19d667da7e65d6cd500e6cc528854d224
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/long/2025-1-8_10-29-30_1610009097/pose.jsonl
@@ -0,0 +1,717 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -385.18490668620285,
+            252.26935581187863,
+            -1.6792347723898118
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -383.68490668620285,
+            254.86743202323194,
+            -1.6792347723898118
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -382.18490668620285,
+            257.4655082345853,
+            -1.6792347723898118
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966025
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -380.68490668620285,
+            260.0635844459386,
+            -1.6792347723898118
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -379.18490668620285,
+            262.6616606572919,
+            -1.6792347723898118
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -377.68490668620285,
+            265.25973686864523,
+            -1.6792347723898118
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -376.18490668620285,
+            267.85781307999855,
+            -1.6792347723898118
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -374.68490668620285,
+            270.45588929135187,
+            -1.6792347723898118
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -374.68490668620285,
+            270.45588929135187,
+            -1.6792347723898118
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -372.08683047484953,
+            271.95588929135187,
+            -1.6792347723898118
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -369.4887542634962,
+            273.45588929135187,
+            -1.6792347723898118
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -366.8906780521429,
+            274.95588929135187,
+            -1.6792347723898118
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -364.2926018407896,
+            276.45588929135187,
+            -1.6792347723898118
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -361.69452562943627,
+            277.95588929135187,
+            -1.6792347723898118
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -359.09644941808295,
+            279.45588929135187,
+            -1.6792347723898118
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -356.49837320672964,
+            280.95588929135187,
+            -1.6792347723898118
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -353.9002969953763,
+            282.45588929135187,
+            -1.6792347723898118
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -351.302220784023,
+            283.95588929135187,
+            -1.6792347723898118
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -348.7041445726697,
+            285.45588929135187,
+            -1.6792347723898118
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -346.1060683613164,
+            286.95588929135187,
+            -1.6792347723898118
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -343.50799214996306,
+            288.45588929135187,
+            -1.6792347723898118
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -340.90991593860974,
+            289.95588929135187,
+            -1.6792347723898118
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -335.2635250091553,
+            293.34011459350586,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -338.3118397272564,
+            291.45588929135187,
+            -1.6792347723898118
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -338.3118397272564,
+            291.45588929135187,
+            -1.6792347723898118
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -338.3118397272564,
+            291.45588929135187,
+            -1.6792347723898118
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -338.3118397272564,
+            291.45588929135187,
+            -1.6792347723898118
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -338.3118397272564,
+            294.45588929135187,
+            -1.6792347723898118
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -338.3118397272564,
+            297.45588929135187,
+            -1.6792347723898118
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -338.3118397272564,
+            300.45588929135187,
+            -1.6792347723898118
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -338.3118397272564,
+            303.45588929135187,
+            -1.6792347723898118
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -338.3118397272564,
+            306.45588929135187,
+            -1.6792347723898118
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -338.3118397272564,
+            309.45588929135187,
+            -1.6792347723898118
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -338.3118397272564,
+            312.45588929135187,
+            -1.6792347723898118
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -338.3118397272564,
+            315.45588929135187,
+            -1.6792347723898118
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -338.3118397272564,
+            318.45588929135187,
+            -1.6792347723898118
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -338.3118397272564,
+            321.45588929135187,
+            -1.6792347723898118
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -338.3118397272564,
+            324.45588929135187,
+            -1.6792347723898118
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -338.3118397272564,
+            327.45588929135187,
+            -1.6792347723898118
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -338.3118397272564,
+            330.45588929135187,
+            -1.6792347723898118
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -338.3118397272564,
+            333.45588929135187,
+            -1.6792347723898118
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -338.3118397272564,
+            336.45588929135187,
+            -1.6792347723898118
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -338.3118397272564,
+            339.45588929135187,
+            -1.6792347723898118
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -338.3118397272564,
+            342.45588929135187,
+            -1.6792347723898118
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -338.3118397272564,
+            345.45588929135187,
+            -1.6792347723898118
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -338.3118397272564,
+            348.45588929135187,
+            -1.6792347723898118
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -338.3118397272564,
+            348.45588929135187,
+            -1.6792347723898118
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -339.8118397272564,
+            351.0539655027052,
+            -1.6792347723898118
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -341.3118397272564,
+            353.6520417140585,
+            -1.6792347723898118
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -342.8118397272564,
+            356.2501179254118,
+            -1.6792347723898118
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -344.3118397272564,
+            358.84819413676513,
+            -1.6792347723898118
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -345.8118397272564,
+            361.44627034811845,
+            -1.6792347723898118
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -347.3118397272564,
+            364.04434655947176,
+            -1.6792347723898118
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -348.8118397272564,
+            366.6424227708251,
+            -1.6792347723898118
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -350.09701919555664,
+            369.4403533935547,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/long/2025-1-8_10-32-48_1936060910/pose.jsonl b/Image/env_gs_sjtu02/astar_data/long/2025-1-8_10-32-48_1936060910/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c3603f4929401b4b2f66d4cc6c7553c4a3342240
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/long/2025-1-8_10-32-48_1936060910/pose.jsonl
@@ -0,0 +1,704 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -673.1901983991044,
+            770.0485972506858,
+            -6.676737718089438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -671.6901983991044,
+            767.4505210393324,
+            -6.676737718089438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -670.1901983991044,
+            764.8524448279791,
+            -6.676737718089438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -668.6901983991044,
+            762.2543686166257,
+            -6.676737718089438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -667.1901983991044,
+            759.6562924052723,
+            -6.676737718089438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -665.6901983991044,
+            757.058216193919,
+            -6.676737718089438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -664.1901983991044,
+            754.4601399825656,
+            -6.676737718089438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -662.6901983991044,
+            751.8620637712122,
+            -6.676737718089438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -661.1901983991044,
+            749.2639875598588,
+            -6.676737718089438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -659.6901983991044,
+            746.6659113485055,
+            -6.676737718089438
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -659.6901983991044,
+            746.6659113485055,
+            -6.676737718089438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -657.0921221877511,
+            745.1659113485055,
+            -6.676737718089438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -654.4940459763977,
+            743.6659113485055,
+            -6.676737718089438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -651.8959697650444,
+            742.1659113485055,
+            -6.676737718089438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -649.297893553691,
+            740.6659113485055,
+            -6.676737718089438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -646.6998173423376,
+            739.1659113485055,
+            -6.676737718089438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -644.1017411309842,
+            737.6659113485055,
+            -6.676737718089438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -641.5036649196309,
+            736.1659113485055,
+            -6.676737718089438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -638.9055887082775,
+            734.6659113485055,
+            -6.676737718089438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -636.3075124969241,
+            733.1659113485055,
+            -6.676737718089438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -633.7094362855707,
+            731.6659113485055,
+            -6.676737718089438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -631.1113600742174,
+            730.1659113485055,
+            -6.676737718089438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -628.513283862864,
+            728.6659113485055,
+            -6.676737718089438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -625.9152076515106,
+            727.1659113485055,
+            -6.676737718089438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -623.3171314401573,
+            725.6659113485055,
+            -6.676737718089438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -620.7190552288039,
+            724.1659113485055,
+            -6.676737718089438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -618.2195739746094,
+            720.5517921447754,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -618.1209790174505,
+            722.6659113485055,
+            -6.676737718089438
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -618.1209790174505,
+            722.6659113485055,
+            -6.676737718089438
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -618.1209790174505,
+            722.6659113485055,
+            -6.676737718089438
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.570796326794887
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -618.1209790174505,
+            722.6659113485055,
+            -6.676737718089438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -618.1209790174505,
+            719.6659113485055,
+            -6.676737718089438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -618.1209790174505,
+            716.6659113485055,
+            -6.676737718089438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -618.1209790174505,
+            713.6659113485055,
+            -6.676737718089438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -618.1209790174505,
+            710.6659113485055,
+            -6.676737718089438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -618.1209790174505,
+            707.6659113485055,
+            -6.676737718089438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -618.1209790174505,
+            704.6659113485055,
+            -6.676737718089438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -618.1209790174505,
+            701.6659113485055,
+            -6.676737718089438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -618.1209790174505,
+            698.6659113485055,
+            -6.676737718089438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -618.1209790174505,
+            695.6659113485055,
+            -6.676737718089438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -618.1209790174505,
+            692.6659113485055,
+            -6.676737718089438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -618.1209790174505,
+            689.6659113485055,
+            -6.676737718089438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -618.1209790174505,
+            686.6659113485055,
+            -6.676737718089438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -618.1209790174505,
+            683.6659113485055,
+            -6.676737718089438
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -618.1209790174505,
+            683.6659113485055,
+            -6.676737718089438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -616.6209790174505,
+            681.0678351371521,
+            -6.676737718089438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -615.1209790174505,
+            678.4697589257987,
+            -6.676737718089438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -613.6209790174505,
+            675.8716827144453,
+            -6.676737718089438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -612.1209790174505,
+            673.273606503092,
+            -6.676737718089438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -610.6209790174505,
+            670.6755302917386,
+            -6.676737718089438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -609.1209790174505,
+            668.0774540803852,
+            -6.676737718089438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -607.6209790174505,
+            665.4793778690319,
+            -6.676737718089438
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -606.1209790174505,
+            662.8813016576785,
+            -6.676737718089438
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -604.2860908508301,
+            659.8240394592285,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/long/2025-1-8_10-53-41_415522325/pose.jsonl b/Image/env_gs_sjtu02/astar_data/long/2025-1-8_10-53-41_415522325/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c5c1844dbeb01149debd3949d5936250dd934dcf
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/long/2025-1-8_10-53-41_415522325/pose.jsonl
@@ -0,0 +1,639 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -587.1125196653745,
+            322.1111508301197,
+            -6.595650744110351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -587.1125196653745,
+            325.1111508301197,
+            -6.595650744110351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -587.1125196653745,
+            328.1111508301197,
+            -6.595650744110351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -587.1125196653745,
+            331.1111508301197,
+            -6.595650744110351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -587.1125196653745,
+            334.1111508301197,
+            -6.595650744110351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -587.1125196653745,
+            337.1111508301197,
+            -6.595650744110351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -587.1125196653745,
+            340.1111508301197,
+            -6.595650744110351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -587.1125196653745,
+            343.1111508301197,
+            -6.595650744110351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -587.1125196653745,
+            346.1111508301197,
+            -6.595650744110351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -587.1125196653745,
+            349.1111508301197,
+            -6.595650744110351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -587.1125196653745,
+            352.1111508301197,
+            -6.595650744110351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -587.1125196653745,
+            355.1111508301197,
+            -6.595650744110351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -587.1125196653745,
+            358.1111508301197,
+            -6.595650744110351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -587.1125196653745,
+            361.1111508301197,
+            -6.595650744110351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -587.1125196653745,
+            364.1111508301197,
+            -6.595650744110351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -587.1125196653745,
+            367.1111508301197,
+            -6.595650744110351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -587.1125196653745,
+            370.1111508301197,
+            -6.595650744110351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -587.1125196653745,
+            373.1111508301197,
+            -6.595650744110351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -587.1125196653745,
+            376.1111508301197,
+            -6.595650744110351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -587.1125196653745,
+            379.1111508301197,
+            -6.595650744110351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -587.1125196653745,
+            382.1111508301197,
+            -6.595650744110351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -587.1125196653745,
+            385.1111508301197,
+            -6.595650744110351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -585.7167987823486,
+            390.5620746612549,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -587.1125196653745,
+            388.1111508301197,
+            -6.595650744110351
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -587.1125196653745,
+            388.1111508301197,
+            -6.595650744110351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -585.6125196653745,
+            390.709227041473,
+            -6.595650744110351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -584.1125196653745,
+            393.30730325282633,
+            -6.595650744110351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -582.6125196653745,
+            395.90537946417965,
+            -6.595650744110351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -581.1125196653745,
+            398.50345567553296,
+            -6.595650744110351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -579.6125196653745,
+            401.1015318868863,
+            -6.595650744110351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -578.1125196653745,
+            403.6996080982396,
+            -6.595650744110351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -576.6125196653745,
+            406.2976843095929,
+            -6.595650744110351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -575.1125196653745,
+            408.8957605209462,
+            -6.595650744110351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -573.6125196653745,
+            411.49383673229954,
+            -6.595650744110351
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -573.6125196653745,
+            411.49383673229954,
+            -6.595650744110351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -571.0144434540211,
+            412.99383673229954,
+            -6.595650744110351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -568.4163672426678,
+            414.49383673229954,
+            -6.595650744110351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -565.8182910313144,
+            415.99383673229954,
+            -6.595650744110351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -563.220214819961,
+            417.49383673229954,
+            -6.595650744110351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -560.6221386086077,
+            418.99383673229954,
+            -6.595650744110351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -558.0240623972543,
+            420.49383673229954,
+            -6.595650744110351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -555.4259861859009,
+            421.99383673229954,
+            -6.595650744110351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -552.8279099745475,
+            423.49383673229954,
+            -6.595650744110351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -550.2298337631942,
+            424.99383673229954,
+            -6.595650744110351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -547.6317575518408,
+            426.49383673229954,
+            -6.595650744110351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -545.0336813404874,
+            427.99383673229954,
+            -6.595650744110351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -542.435605129134,
+            429.49383673229954,
+            -6.595650744110351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -539.8375289177807,
+            430.99383673229954,
+            -6.595650744110351
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -537.6215629577637,
+            434.12072563171387,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/long/2025-1-8_2-24-54_1749698586/pose.jsonl b/Image/env_gs_sjtu02/astar_data/long/2025-1-8_2-24-54_1749698586/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..39e5cad14e5a7b86239fb4be56c1da890e7ed8d3
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/long/2025-1-8_2-24-54_1749698586/pose.jsonl
@@ -0,0 +1,730 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -786.4548282520643,
+            562.472109621626,
+            -2.5857933758999607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -784.9548282520643,
+            565.0701858329794,
+            -2.5857933758999607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -783.4548282520643,
+            567.6682620443328,
+            -2.5857933758999607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -781.9548282520643,
+            570.2663382556862,
+            -2.5857933758999607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -780.4548282520643,
+            572.8644144670395,
+            -2.5857933758999607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -778.9548282520643,
+            575.4624906783929,
+            -2.5857933758999607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -777.4548282520643,
+            578.0605668897463,
+            -2.5857933758999607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -775.9548282520643,
+            580.6586431010996,
+            -2.5857933758999607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -774.4548282520643,
+            583.256719312453,
+            -2.5857933758999607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -772.9548282520643,
+            585.8547955238064,
+            -2.5857933758999607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -771.4548282520643,
+            588.4528717351598,
+            -2.5857933758999607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -769.9548282520643,
+            591.0509479465131,
+            -2.5857933758999607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -768.4548282520643,
+            593.6490241578665,
+            -2.5857933758999607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -766.9548282520643,
+            596.2471003692199,
+            -2.5857933758999607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -765.4548282520643,
+            598.8451765805733,
+            -2.5857933758999607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -763.9548282520643,
+            601.4432527919266,
+            -2.5857933758999607
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -763.9548282520643,
+            601.4432527919266,
+            -2.5857933758999607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -761.356752040711,
+            602.9432527919266,
+            -2.5857933758999607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -758.7586758293576,
+            604.4432527919266,
+            -2.5857933758999607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -756.1605996180042,
+            605.9432527919266,
+            -2.5857933758999607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -753.5625234066508,
+            607.4432527919266,
+            -2.5857933758999607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -750.9644471952975,
+            608.9432527919266,
+            -2.5857933758999607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -746.0297698974609,
+            610.7758102416992,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -748.3663709839441,
+            610.4432527919266,
+            -2.5857933758999607
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -748.3663709839441,
+            610.4432527919266,
+            -2.5857933758999607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -745.3663709839441,
+            610.4432527919266,
+            -2.5857933758999607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -742.3663709839441,
+            610.4432527919266,
+            -2.5857933758999607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -739.3663709839441,
+            610.4432527919266,
+            -2.5857933758999607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -736.3663709839441,
+            610.4432527919266,
+            -2.5857933758999607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -733.3663709839441,
+            610.4432527919266,
+            -2.5857933758999607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -730.3663709839441,
+            610.4432527919266,
+            -2.5857933758999607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -727.3663709839441,
+            610.4432527919266,
+            -2.5857933758999607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -724.3663709839441,
+            610.4432527919266,
+            -2.5857933758999607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -721.3663709839441,
+            610.4432527919266,
+            -2.5857933758999607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -718.3663709839441,
+            610.4432527919266,
+            -2.5857933758999607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -715.3663709839441,
+            610.4432527919266,
+            -2.5857933758999607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -712.3663709839441,
+            610.4432527919266,
+            -2.5857933758999607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -709.3663709839441,
+            610.4432527919266,
+            -2.5857933758999607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -706.3663709839441,
+            610.4432527919266,
+            -2.5857933758999607
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -706.3663709839441,
+            610.4432527919266,
+            -2.5857933758999607
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -706.3663709839441,
+            610.4432527919266,
+            -2.5857933758999607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -704.8663709839441,
+            607.8451765805733,
+            -2.5857933758999607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -703.3663709839441,
+            605.2471003692199,
+            -2.5857933758999607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -701.8663709839441,
+            602.6490241578665,
+            -2.5857933758999607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -700.3663709839441,
+            600.0509479465131,
+            -2.5857933758999607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -698.8663709839441,
+            597.4528717351598,
+            -2.5857933758999607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -697.3663709839441,
+            594.8547955238064,
+            -2.5857933758999607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -695.8663709839441,
+            592.256719312453,
+            -2.5857933758999607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -694.3663709839441,
+            589.6586431010996,
+            -2.5857933758999607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -692.8663709839441,
+            587.0605668897463,
+            -2.5857933758999607
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -692.8663709839441,
+            587.0605668897463,
+            -2.5857933758999607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -690.2682947725907,
+            585.5605668897463,
+            -2.5857933758999607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -687.6702185612373,
+            584.0605668897463,
+            -2.5857933758999607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -685.072142349884,
+            582.5605668897463,
+            -2.5857933758999607
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -682.4740661385306,
+            581.0605668897463,
+            -2.5857933758999607
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -679.2162246704102,
+            580.9384593963623,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/long/2025-1-8_2-55-21_1117142618/pose.jsonl b/Image/env_gs_sjtu02/astar_data/long/2025-1-8_2-55-21_1117142618/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d4347287649a9f7efedcb08e6a2d852188389091
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/long/2025-1-8_2-55-21_1117142618/pose.jsonl
@@ -0,0 +1,2472 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -127.14070966264458,
+            507.77906345888215,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -125.64070966264458,
+            505.18098724752883,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -124.14070966264458,
+            502.5829110361755,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -122.64070966264458,
+            499.9848348248222,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -121.14070966264458,
+            497.3867586134689,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -119.64070966264458,
+            494.78868240211557,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -118.14070966264458,
+            492.19060619076225,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -116.64070966264458,
+            489.59252997940894,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -115.14070966264458,
+            486.9944537680556,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -113.64070966264458,
+            484.3963775567023,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -112.14070966264458,
+            481.798301345349,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -110.64070966264458,
+            479.2002251339957,
+            -12.455547859304982
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -110.64070966264458,
+            479.2002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -108.04263345129127,
+            477.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -105.44455723993795,
+            476.2002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -102.84648102858463,
+            474.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -100.24840481723132,
+            473.2002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -97.650328605878,
+            471.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -95.05225239452469,
+            470.2002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -92.45417618317137,
+            468.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -89.85609997181805,
+            467.2002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -85.02478075027466,
+            465.0187740325928,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -87.25802376046474,
+            465.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -87.25802376046474,
+            465.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -87.25802376046474,
+            465.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -87.25802376046474,
+            465.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -87.25802376046474,
+            462.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -87.25802376046474,
+            459.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -87.25802376046474,
+            456.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -87.25802376046474,
+            453.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -87.25802376046474,
+            450.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -87.25802376046474,
+            447.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -87.25802376046474,
+            444.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -87.25802376046474,
+            441.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -87.25802376046474,
+            438.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -87.25802376046474,
+            435.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -87.25802376046474,
+            432.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -87.25802376046474,
+            429.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -87.25802376046474,
+            426.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -87.25802376046474,
+            423.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -87.25802376046474,
+            420.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -87.25802376046474,
+            417.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -87.25802376046474,
+            414.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -87.25802376046474,
+            411.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -87.25802376046474,
+            408.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -87.25802376046474,
+            405.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -87.25802376046474,
+            402.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -87.25802376046474,
+            399.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -87.25802376046474,
+            396.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -87.25802376046474,
+            393.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -87.25802376046474,
+            390.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -87.25802376046474,
+            387.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -87.25802376046474,
+            384.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -87.25802376046474,
+            381.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -87.25802376046474,
+            378.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -87.25802376046474,
+            375.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -87.25802376046474,
+            372.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -87.25802376046474,
+            369.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            -87.25802376046474,
+            366.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            -87.25802376046474,
+            363.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            -87.25802376046474,
+            360.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            -87.25802376046474,
+            357.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            -87.25802376046474,
+            354.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            -87.25802376046474,
+            351.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            -87.25802376046474,
+            348.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            -87.25802376046474,
+            345.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            -87.25802376046474,
+            342.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            -87.25802376046474,
+            339.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            -87.25802376046474,
+            336.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            -87.25802376046474,
+            333.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            -87.25802376046474,
+            330.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            -87.25802376046474,
+            327.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            -87.25802376046474,
+            324.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            -87.25802376046474,
+            321.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            -87.25802376046474,
+            318.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            -87.25802376046474,
+            315.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            -87.25802376046474,
+            312.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            -87.25802376046474,
+            309.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            -87.25802376046474,
+            306.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            -87.25802376046474,
+            303.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            -87.25802376046474,
+            300.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 81,
+        "pos": [
+            -87.25802376046474,
+            297.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 82,
+        "pos": [
+            -87.25802376046474,
+            294.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 83,
+        "pos": [
+            -87.25802376046474,
+            291.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 84,
+        "pos": [
+            -87.25802376046474,
+            288.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 85,
+        "pos": [
+            -87.25802376046474,
+            285.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 86,
+        "pos": [
+            -87.25802376046474,
+            282.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 87,
+        "pos": [
+            -87.25802376046474,
+            279.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 88,
+        "pos": [
+            -87.25802376046474,
+            276.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 89,
+        "pos": [
+            -87.25802376046474,
+            273.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 90,
+        "pos": [
+            -87.25802376046474,
+            270.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 91,
+        "pos": [
+            -87.25802376046474,
+            267.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 92,
+        "pos": [
+            -87.25802376046474,
+            264.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 93,
+        "pos": [
+            -87.25802376046474,
+            261.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 94,
+        "pos": [
+            -87.25802376046474,
+            258.7002251339957,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 95,
+        "pos": [
+            -87.25802376046474,
+            255.70022513399567,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 96,
+        "pos": [
+            -87.25802376046474,
+            252.70022513399567,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 97,
+        "pos": [
+            -87.25802376046474,
+            249.70022513399567,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 98,
+        "pos": [
+            -87.25802376046474,
+            246.70022513399567,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 99,
+        "pos": [
+            -87.25802376046474,
+            243.70022513399567,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 100,
+        "pos": [
+            -87.25802376046474,
+            240.70022513399567,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 101,
+        "pos": [
+            -87.25802376046474,
+            237.70022513399567,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 102,
+        "pos": [
+            -87.25802376046474,
+            234.70022513399567,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 103,
+        "pos": [
+            -87.25802376046474,
+            231.70022513399567,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 104,
+        "pos": [
+            -87.25802376046474,
+            228.70022513399567,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 105,
+        "pos": [
+            -87.25802376046474,
+            225.70022513399567,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 106,
+        "pos": [
+            -87.25802376046474,
+            222.70022513399567,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 107,
+        "pos": [
+            -87.25802376046474,
+            219.70022513399567,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 108,
+        "pos": [
+            -87.25802376046474,
+            216.70022513399567,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 109,
+        "pos": [
+            -87.25802376046474,
+            213.70022513399567,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 110,
+        "pos": [
+            -87.25802376046474,
+            210.70022513399567,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 111,
+        "pos": [
+            -87.25802376046474,
+            207.70022513399567,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 112,
+        "pos": [
+            -87.25802376046474,
+            204.70022513399567,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 113,
+        "pos": [
+            -87.25802376046474,
+            201.70022513399567,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 114,
+        "pos": [
+            -87.25802376046474,
+            198.70022513399567,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 115,
+        "pos": [
+            -87.25802376046474,
+            195.70022513399567,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 116,
+        "pos": [
+            -87.25802376046474,
+            192.70022513399567,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 117,
+        "pos": [
+            -87.25802376046474,
+            189.70022513399567,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 118,
+        "pos": [
+            -87.25802376046474,
+            186.70022513399567,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 119,
+        "pos": [
+            -87.25802376046474,
+            183.70022513399567,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 120,
+        "pos": [
+            -87.25802376046474,
+            180.70022513399567,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 121,
+        "pos": [
+            -87.25802376046474,
+            177.70022513399567,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 122,
+        "pos": [
+            -87.25802376046474,
+            174.70022513399567,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 123,
+        "pos": [
+            -87.25802376046474,
+            171.70022513399567,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 124,
+        "pos": [
+            -87.25802376046474,
+            168.70022513399567,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 125,
+        "pos": [
+            -87.25802376046474,
+            165.70022513399567,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 126,
+        "pos": [
+            -87.25802376046474,
+            162.70022513399567,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 127,
+        "pos": [
+            -87.25802376046474,
+            159.70022513399567,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 128,
+        "pos": [
+            -87.25802376046474,
+            156.70022513399567,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 129,
+        "pos": [
+            -87.25802376046474,
+            153.70022513399567,
+            -12.455547859304982
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 130,
+        "pos": [
+            -87.25802376046474,
+            153.70022513399567,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 131,
+        "pos": [
+            -85.75802376046474,
+            151.10214892264236,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 132,
+        "pos": [
+            -84.25802376046474,
+            148.50407271128904,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 133,
+        "pos": [
+            -82.75802376046474,
+            145.90599649993572,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 134,
+        "pos": [
+            -81.25802376046474,
+            143.3079202885824,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 135,
+        "pos": [
+            -79.75802376046474,
+            140.7098440772291,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 136,
+        "pos": [
+            -78.25802376046474,
+            138.11176786587578,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 137,
+        "pos": [
+            -76.75802376046474,
+            135.51369165452246,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 138,
+        "pos": [
+            -75.25802376046474,
+            132.91561544316914,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 139,
+        "pos": [
+            -73.75802376046474,
+            130.31753923181583,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 140,
+        "pos": [
+            -72.25802376046474,
+            127.71946302046251,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 141,
+        "pos": [
+            -70.75802376046474,
+            125.1213868091092,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 142,
+        "pos": [
+            -69.25802376046474,
+            122.52331059775588,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 143,
+        "pos": [
+            -67.75802376046474,
+            119.92523438640256,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 144,
+        "pos": [
+            -66.25802376046474,
+            117.32715817504925,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 145,
+        "pos": [
+            -64.75802376046474,
+            114.72908196369593,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 146,
+        "pos": [
+            -63.25802376046474,
+            112.13100575234262,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 147,
+        "pos": [
+            -61.75802376046474,
+            109.5329295409893,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 148,
+        "pos": [
+            -60.25802376046474,
+            106.93485332963598,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 149,
+        "pos": [
+            -58.75802376046474,
+            104.33677711828267,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 150,
+        "pos": [
+            -57.25802376046474,
+            101.73870090692935,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 151,
+        "pos": [
+            -55.75802376046474,
+            99.14062469557604,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 152,
+        "pos": [
+            -54.25802376046474,
+            96.54254848422272,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 153,
+        "pos": [
+            -52.75802376046474,
+            93.9444722728694,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 154,
+        "pos": [
+            -51.25802376046474,
+            91.34639606151609,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 155,
+        "pos": [
+            -49.75802376046474,
+            88.74831985016277,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 156,
+        "pos": [
+            -48.25802376046474,
+            86.15024363880946,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 157,
+        "pos": [
+            -46.75802376046474,
+            83.55216742745614,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 158,
+        "pos": [
+            -45.25802376046474,
+            80.95409121610282,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 159,
+        "pos": [
+            -43.75802376046474,
+            78.35601500474951,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 160,
+        "pos": [
+            -42.25802376046474,
+            75.75793879339619,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 161,
+        "pos": [
+            -40.75802376046474,
+            73.15986258204288,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 162,
+        "pos": [
+            -39.25802376046474,
+            70.56178637068956,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 163,
+        "pos": [
+            -37.75802376046474,
+            67.96371015933624,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 164,
+        "pos": [
+            -36.25802376046474,
+            65.36563394798293,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 165,
+        "pos": [
+            -34.75802376046474,
+            62.76755773662961,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 166,
+        "pos": [
+            -33.25802376046474,
+            60.169481525276296,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 167,
+        "pos": [
+            -31.758023760464738,
+            57.57140531392298,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 168,
+        "pos": [
+            -30.258023760464738,
+            54.973329102569664,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 169,
+        "pos": [
+            -28.758023760464738,
+            52.37525289121635,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 170,
+        "pos": [
+            -27.258023760464738,
+            49.77717667986303,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 171,
+        "pos": [
+            -25.758023760464738,
+            47.179100468509716,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 172,
+        "pos": [
+            -24.258023760464738,
+            44.5810242571564,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 173,
+        "pos": [
+            -22.758023760464738,
+            41.982948045803084,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 174,
+        "pos": [
+            -21.258023760464738,
+            39.38487183444977,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 175,
+        "pos": [
+            -19.758023760464738,
+            36.78679562309645,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 176,
+        "pos": [
+            -18.258023760464738,
+            34.188719411743136,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 177,
+        "pos": [
+            -16.758023760464738,
+            31.59064320038982,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 178,
+        "pos": [
+            -15.258023760464738,
+            28.992566989036504,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 179,
+        "pos": [
+            -13.758023760464738,
+            26.39449077768319,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 180,
+        "pos": [
+            -12.258023760464738,
+            23.796414566329872,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 181,
+        "pos": [
+            -10.758023760464738,
+            21.198338354976556,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 182,
+        "pos": [
+            -9.258023760464738,
+            18.60026214362324,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 183,
+        "pos": [
+            -7.758023760464738,
+            16.002185932269924,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 184,
+        "pos": [
+            -6.258023760464738,
+            13.404109720916608,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 185,
+        "pos": [
+            -4.758023760464738,
+            10.806033509563292,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 186,
+        "pos": [
+            -3.2580237604647375,
+            8.207957298209976,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 187,
+        "pos": [
+            -1.758023760464737,
+            5.60988108685666,
+            -12.455547859304982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 188,
+        "pos": [
+            -0.25802376046473663,
+            3.011804875503344,
+            -12.455547859304982
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "aim_landmark": {
+        "color": "",
+        "feature": "",
+        "position": [
+            0.0,
+            0.0,
+            0.0
+        ],
+        "shape": "",
+        "size": "",
+        "type": ""
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/long/2025-1-8_3-29-10_492067917/pose.jsonl b/Image/env_gs_sjtu02/astar_data/long/2025-1-8_3-29-10_492067917/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8aa6f8703480d3552b06b2fd6a29510c62faac50
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/long/2025-1-8_3-29-10_492067917/pose.jsonl
@@ -0,0 +1,769 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -753.3555823590028,
+            482.6631995073691,
+            -4.485739426887864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -750.3555823590028,
+            482.6631995073691,
+            -4.485739426887864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -747.3555823590028,
+            482.6631995073691,
+            -4.485739426887864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -744.3555823590028,
+            482.6631995073691,
+            -4.485739426887864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -741.3555823590028,
+            482.6631995073691,
+            -4.485739426887864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -738.3555823590028,
+            482.6631995073691,
+            -4.485739426887864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -735.3555823590028,
+            482.6631995073691,
+            -4.485739426887864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -732.3555823590028,
+            482.6631995073691,
+            -4.485739426887864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -729.3555823590028,
+            482.6631995073691,
+            -4.485739426887864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -726.3555823590028,
+            482.6631995073691,
+            -4.485739426887864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -723.3555823590028,
+            482.6631995073691,
+            -4.485739426887864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -720.3555823590028,
+            482.6631995073691,
+            -4.485739426887864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -717.3555823590028,
+            482.6631995073691,
+            -4.485739426887864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -714.3555823590028,
+            482.6631995073691,
+            -4.485739426887864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -711.3555823590028,
+            482.6631995073691,
+            -4.485739426887864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -708.3555823590028,
+            482.6631995073691,
+            -4.485739426887864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -705.3555823590028,
+            482.6631995073691,
+            -4.485739426887864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -702.3555823590028,
+            482.6631995073691,
+            -4.485739426887864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -699.3555823590028,
+            482.6631995073691,
+            -4.485739426887864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -696.3555823590028,
+            482.6631995073691,
+            -4.485739426887864
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -696.3555823590028,
+            482.6631995073691,
+            -4.485739426887864
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -696.3555823590028,
+            482.6631995073691,
+            -4.485739426887864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -694.8555823590028,
+            485.2612757187224,
+            -4.485739426887864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -693.3555823590028,
+            487.8593519300757,
+            -4.485739426887864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -691.8555823590028,
+            490.45742814142903,
+            -4.485739426887864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -690.3555823590028,
+            493.05550435278235,
+            -4.485739426887864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -688.8555823590028,
+            495.65358056413567,
+            -4.485739426887864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -687.3555823590028,
+            498.251656775489,
+            -4.485739426887864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -685.8555823590028,
+            500.8497329868423,
+            -4.485739426887864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -684.3555823590028,
+            503.4478091981956,
+            -4.485739426887864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -679.8386764526367,
+            506.54336738586426,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -682.8555823590028,
+            506.04588540954893,
+            -4.485739426887864
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -682.8555823590028,
+            506.04588540954893,
+            -4.485739426887864
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -682.8555823590028,
+            506.04588540954893,
+            -4.485739426887864
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.220446049250313e-16
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -682.8555823590028,
+            506.04588540954893,
+            -4.485739426887864
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982987
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -682.8555823590028,
+            506.04588540954893,
+            -4.485739426887864
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965974
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -682.8555823590028,
+            506.04588540954893,
+            -4.485739426887864
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948961
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -682.8555823590028,
+            506.04588540954893,
+            -4.485739426887864
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -682.8555823590028,
+            506.04588540954893,
+            -4.485739426887864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -684.3555823590028,
+            503.4478091981956,
+            -4.485739426887864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -685.8555823590028,
+            500.8497329868423,
+            -4.485739426887864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -687.3555823590028,
+            498.251656775489,
+            -4.485739426887864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -688.8555823590028,
+            495.65358056413567,
+            -4.485739426887864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -690.3555823590028,
+            493.05550435278235,
+            -4.485739426887864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -691.8555823590028,
+            490.45742814142903,
+            -4.485739426887864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -693.3555823590028,
+            487.8593519300757,
+            -4.485739426887864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -694.8555823590028,
+            485.2612757187224,
+            -4.485739426887864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -696.3555823590028,
+            482.6631995073691,
+            -4.485739426887864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -697.8555823590028,
+            480.06512329601577,
+            -4.485739426887864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -699.3555823590028,
+            477.46704708466245,
+            -4.485739426887864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -700.8555823590028,
+            474.86897087330914,
+            -4.485739426887864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -702.3555823590028,
+            472.2708946619558,
+            -4.485739426887864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -703.8555823590028,
+            469.6728184506025,
+            -4.485739426887864
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -703.8555823590028,
+            469.6728184506025,
+            -4.485739426887864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -703.8555823590028,
+            466.6728184506025,
+            -4.485739426887864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -703.8555823590028,
+            463.6728184506025,
+            -4.485739426887864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -703.8555823590028,
+            460.6728184506025,
+            -4.485739426887864
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -703.8555823590028,
+            457.6728184506025,
+            -4.485739426887864
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -705.5029983520508,
+            454.1358337402344,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/long/2025-1-8_3-47-47_889023311/pose.jsonl b/Image/env_gs_sjtu02/astar_data/long/2025-1-8_3-47-47_889023311/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5b7fa6fc9bc7706737fbac1c863991c6bc2ba5fc
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/long/2025-1-8_3-47-47_889023311/pose.jsonl
@@ -0,0 +1,756 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -262.9266406695854,
+            631.3650292172072,
+            -8.598310980093679
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -264.4266406695854,
+            628.7669530058538,
+            -8.598310980093679
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -265.9266406695854,
+            626.1688767945004,
+            -8.598310980093679
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -267.4266406695854,
+            623.570800583147,
+            -8.598310980093679
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -268.9266406695854,
+            620.9727243717937,
+            -8.598310980093679
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -270.4266406695854,
+            618.3746481604403,
+            -8.598310980093679
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -271.9266406695854,
+            615.7765719490869,
+            -8.598310980093679
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -273.4266406695854,
+            613.1784957377336,
+            -8.598310980093679
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -274.9266406695854,
+            610.5804195263802,
+            -8.598310980093679
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -276.4266406695854,
+            607.9823433150268,
+            -8.598310980093679
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -277.9266406695854,
+            605.3842671036734,
+            -8.598310980093679
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -279.4266406695854,
+            602.7861908923201,
+            -8.598310980093679
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -280.9266406695854,
+            600.1881146809667,
+            -8.598310980093679
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -280.9266406695854,
+            600.1881146809667,
+            -8.598310980093679
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -283.52471688093874,
+            598.6881146809667,
+            -8.598310980093679
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -286.12279309229206,
+            597.1881146809667,
+            -8.598310980093679
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -288.7208693036454,
+            595.6881146809667,
+            -8.598310980093679
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -291.3189455149987,
+            594.1881146809667,
+            -8.598310980093679
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -293.917021726352,
+            592.6881146809667,
+            -8.598310980093679
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -296.5150979377053,
+            591.1881146809667,
+            -8.598310980093679
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -299.11317414905864,
+            589.6881146809667,
+            -8.598310980093679
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -301.71125036041195,
+            588.1881146809667,
+            -8.598310980093679
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -304.30932657176527,
+            586.6881146809667,
+            -8.598310980093679
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -310.2634754180908,
+            584.025821685791,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -306.9074027831186,
+            585.1881146809667,
+            -8.598310980093679
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -306.9074027831186,
+            585.1881146809667,
+            -8.598310980093679
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -306.9074027831186,
+            585.1881146809667,
+            -8.598310980093679
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948968
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -306.9074027831186,
+            585.1881146809667,
+            -8.598310980093679
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -306.9074027831186,
+            585.1881146809667,
+            -8.598310980093679
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.5235987755982991
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -306.9074027831186,
+            585.1881146809667,
+            -8.598310980093679
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -4.440892098500626e-16
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -306.9074027831186,
+            585.1881146809667,
+            -8.598310980093679
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -303.9074027831186,
+            585.1881146809667,
+            -8.598310980093679
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -300.9074027831186,
+            585.1881146809667,
+            -8.598310980093679
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -297.9074027831186,
+            585.1881146809667,
+            -8.598310980093679
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -294.9074027831186,
+            585.1881146809667,
+            -8.598310980093679
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -291.9074027831186,
+            585.1881146809667,
+            -8.598310980093679
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -288.9074027831186,
+            585.1881146809667,
+            -8.598310980093679
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -285.9074027831186,
+            585.1881146809667,
+            -8.598310980093679
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -282.9074027831186,
+            585.1881146809667,
+            -8.598310980093679
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -279.9074027831186,
+            585.1881146809667,
+            -8.598310980093679
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -276.9074027831186,
+            585.1881146809667,
+            -8.598310980093679
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -273.9074027831186,
+            585.1881146809667,
+            -8.598310980093679
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -270.9074027831186,
+            585.1881146809667,
+            -8.598310980093679
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -267.9074027831186,
+            585.1881146809667,
+            -8.598310980093679
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -264.9074027831186,
+            585.1881146809667,
+            -8.598310980093679
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -261.9074027831186,
+            585.1881146809667,
+            -8.598310980093679
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -258.9074027831186,
+            585.1881146809667,
+            -8.598310980093679
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -255.90740278311858,
+            585.1881146809667,
+            -8.598310980093679
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -252.90740278311858,
+            585.1881146809667,
+            -8.598310980093679
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -249.90740278311858,
+            585.1881146809667,
+            -8.598310980093679
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -246.90740278311858,
+            585.1881146809667,
+            -8.598310980093679
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -246.90740278311858,
+            585.1881146809667,
+            -8.598310980093679
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -244.30932657176527,
+            586.6881146809667,
+            -8.598310980093679
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -241.71125036041195,
+            588.1881146809667,
+            -8.598310980093679
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -239.11317414905864,
+            589.6881146809667,
+            -8.598310980093679
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -236.51509793770532,
+            591.1881146809667,
+            -8.598310980093679
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -233.917021726352,
+            592.6881146809667,
+            -8.598310980093679
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -230.38146877288818,
+            591.9002571105957,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/long/2025-1-8_4-10-54_1776808933/pose.jsonl b/Image/env_gs_sjtu02/astar_data/long/2025-1-8_4-10-54_1776808933/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e8e887a5cf454981dcceea187256252718a3cbc9
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/long/2025-1-8_4-10-54_1776808933/pose.jsonl
@@ -0,0 +1,600 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            163.51596100310218,
+            176.70652745946316,
+            -13.929173872374502
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            163.51596100310218,
+            179.70652745946316,
+            -13.929173872374502
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            163.51596100310218,
+            182.70652745946316,
+            -13.929173872374502
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            163.51596100310218,
+            185.70652745946316,
+            -13.929173872374502
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            163.51596100310218,
+            188.70652745946316,
+            -13.929173872374502
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            163.51596100310218,
+            191.70652745946316,
+            -13.929173872374502
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            163.51596100310218,
+            194.70652745946316,
+            -13.929173872374502
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            163.51596100310218,
+            197.70652745946316,
+            -13.929173872374502
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            163.51596100310218,
+            200.70652745946316,
+            -13.929173872374502
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            163.51596100310218,
+            203.70652745946316,
+            -13.929173872374502
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            163.51596100310218,
+            206.70652745946316,
+            -13.929173872374502
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            163.51596100310218,
+            209.70652745946316,
+            -13.929173872374502
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            163.51596100310218,
+            212.70652745946316,
+            -13.929173872374502
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            163.51596100310218,
+            215.70652745946316,
+            -13.929173872374502
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            163.51596100310218,
+            218.70652745946316,
+            -13.929173872374502
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            163.51596100310218,
+            221.70652745946316,
+            -13.929173872374502
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            163.51596100310218,
+            224.70652745946316,
+            -13.929173872374502
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            163.51596100310218,
+            224.70652745946316,
+            -13.929173872374502
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            163.51596100310218,
+            224.70652745946316,
+            -13.929173872374502
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982989
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            166.1140372144555,
+            226.20652745946316,
+            -13.929173872374502
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            168.7121134258088,
+            227.70652745946316,
+            -13.929173872374502
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            171.31018963716213,
+            229.20652745946316,
+            -13.929173872374502
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            171.31018963716213,
+            229.20652745946316,
+            -13.929173872374502
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            172.81018963716213,
+            231.80460367081648,
+            -13.929173872374502
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            176.12223529815674,
+            236.40146827697754,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            174.31018963716213,
+            234.4026798821698,
+            -13.929173872374502
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            174.31018963716213,
+            234.4026798821698,
+            -13.929173872374502
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            174.31018963716213,
+            234.4026798821698,
+            -13.929173872374502
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            174.31018963716213,
+            234.4026798821698,
+            -13.929173872374502
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            174.31018963716213,
+            234.4026798821698,
+            -13.929173872374502
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            171.7121134258088,
+            235.9026798821698,
+            -13.929173872374502
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            169.1140372144555,
+            237.4026798821698,
+            -13.929173872374502
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            166.51596100310218,
+            238.9026798821698,
+            -13.929173872374502
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            163.91788479174886,
+            240.4026798821698,
+            -13.929173872374502
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            161.31980858039555,
+            241.9026798821698,
+            -13.929173872374502
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            158.72173236904223,
+            243.4026798821698,
+            -13.929173872374502
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            156.1236561576889,
+            244.9026798821698,
+            -13.929173872374502
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            153.5255799463356,
+            246.4026798821698,
+            -13.929173872374502
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            150.92750373498228,
+            247.9026798821698,
+            -13.929173872374502
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            148.32942752362896,
+            249.4026798821698,
+            -13.929173872374502
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            145.73135131227565,
+            250.9026798821698,
+            -13.929173872374502
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            143.13327510092233,
+            252.4026798821698,
+            -13.929173872374502
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            140.53519888956902,
+            253.9026798821698,
+            -13.929173872374502
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            137.9371226782157,
+            255.4026798821698,
+            -13.929173872374502
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            135.33904646686238,
+            256.90267988216976,
+            -13.929173872374502
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            132.49260902404785,
+            258.68814849853516,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/long/2025-1-8_4-26-37_625032172/pose.jsonl b/Image/env_gs_sjtu02/astar_data/long/2025-1-8_4-26-37_625032172/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d29b066baae689723b827c68ac9ce71df9968690
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/long/2025-1-8_4-26-37_625032172/pose.jsonl
@@ -0,0 +1,704 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -291.5636933598621,
+            656.8723743344752,
+            -8.790916217063334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -294.5636933598621,
+            656.8723743344752,
+            -8.790916217063334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -297.5636933598621,
+            656.8723743344752,
+            -8.790916217063334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -300.5636933598621,
+            656.8723743344752,
+            -8.790916217063334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -303.5636933598621,
+            656.8723743344752,
+            -8.790916217063334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -306.5636933598621,
+            656.8723743344752,
+            -8.790916217063334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -309.5636933598621,
+            656.8723743344752,
+            -8.790916217063334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -312.5636933598621,
+            656.8723743344752,
+            -8.790916217063334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -315.5636933598621,
+            656.8723743344752,
+            -8.790916217063334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -318.5636933598621,
+            656.8723743344752,
+            -8.790916217063334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -321.5636933598621,
+            656.8723743344752,
+            -8.790916217063334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -324.5636933598621,
+            656.8723743344752,
+            -8.790916217063334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -327.5636933598621,
+            656.8723743344752,
+            -8.790916217063334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -330.5636933598621,
+            656.8723743344752,
+            -8.790916217063334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -333.5636933598621,
+            656.8723743344752,
+            -8.790916217063334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -336.5636933598621,
+            656.8723743344752,
+            -8.790916217063334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -339.5636933598621,
+            656.8723743344752,
+            -8.790916217063334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -342.5636933598621,
+            656.8723743344752,
+            -8.790916217063334
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -342.5636933598621,
+            656.8723743344752,
+            -8.790916217063334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -345.1617695712154,
+            655.3723743344752,
+            -8.790916217063334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -347.75984578256873,
+            653.8723743344752,
+            -8.790916217063334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -353.1334648132324,
+            652.8639297485352,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -350.35792199392205,
+            652.3723743344752,
+            -8.790916217063334
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -350.35792199392205,
+            652.3723743344752,
+            -8.790916217063334
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -350.35792199392205,
+            652.3723743344752,
+            -8.790916217063334
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948968
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -350.35792199392205,
+            652.3723743344752,
+            -8.790916217063334
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -350.35792199392205,
+            652.3723743344752,
+            -8.790916217063334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -348.85792199392205,
+            649.774298123122,
+            -8.790916217063334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -347.35792199392205,
+            647.1762219117686,
+            -8.790916217063334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -345.85792199392205,
+            644.5781457004152,
+            -8.790916217063334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -344.35792199392205,
+            641.9800694890619,
+            -8.790916217063334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -342.85792199392205,
+            639.3819932777085,
+            -8.790916217063334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -341.35792199392205,
+            636.7839170663551,
+            -8.790916217063334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -339.85792199392205,
+            634.1858408550017,
+            -8.790916217063334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -338.35792199392205,
+            631.5877646436484,
+            -8.790916217063334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -336.85792199392205,
+            628.989688432295,
+            -8.790916217063334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -335.35792199392205,
+            626.3916122209416,
+            -8.790916217063334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -333.85792199392205,
+            623.7935360095883,
+            -8.790916217063334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -332.35792199392205,
+            621.1954597982349,
+            -8.790916217063334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -330.85792199392205,
+            618.5973835868815,
+            -8.790916217063334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -329.35792199392205,
+            615.9993073755281,
+            -8.790916217063334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -327.85792199392205,
+            613.4012311641748,
+            -8.790916217063334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -326.35792199392205,
+            610.8031549528214,
+            -8.790916217063334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -324.85792199392205,
+            608.205078741468,
+            -8.790916217063334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -323.35792199392205,
+            605.6070025301146,
+            -8.790916217063334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -321.85792199392205,
+            603.0089263187613,
+            -8.790916217063334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -320.35792199392205,
+            600.4108501074079,
+            -8.790916217063334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -318.85792199392205,
+            597.8127738960545,
+            -8.790916217063334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -317.35792199392205,
+            595.2146976847012,
+            -8.790916217063334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -315.85792199392205,
+            592.6166214733478,
+            -8.790916217063334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -314.35792199392205,
+            590.0185452619944,
+            -8.790916217063334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -312.85792199392205,
+            587.420469050641,
+            -8.790916217063334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -311.35792199392205,
+            584.8223928392877,
+            -8.790916217063334
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -310.2634754180908,
+            584.025821685791,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/long/2025-1-8_4-27-3_387451659/pose.jsonl b/Image/env_gs_sjtu02/astar_data/long/2025-1-8_4-27-3_387451659/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0ae158933be01a4f0741aa4be33423ca72a6c1ba
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/long/2025-1-8_4-27-3_387451659/pose.jsonl
@@ -0,0 +1,678 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -583.2009382383362,
+            450.2229779275333,
+            -15.388888386819303
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -581.7009382383362,
+            452.8210541388866,
+            -15.388888386819303
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -580.2009382383362,
+            455.4191303502399,
+            -15.388888386819303
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -578.7009382383362,
+            458.01720656159324,
+            -15.388888386819303
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -577.2009382383362,
+            460.61528277294656,
+            -15.388888386819303
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -575.7009382383362,
+            463.2133589842999,
+            -15.388888386819303
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -574.2009382383362,
+            465.8114351956532,
+            -15.388888386819303
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -572.7009382383362,
+            468.4095114070065,
+            -15.388888386819303
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -571.2009382383362,
+            471.0075876183598,
+            -15.388888386819303
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -569.7009382383362,
+            473.60566382971314,
+            -15.388888386819303
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -568.2009382383362,
+            476.20374004106645,
+            -15.388888386819303
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -566.7009382383362,
+            478.80181625241977,
+            -15.388888386819303
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -565.2009382383362,
+            481.3998924637731,
+            -15.388888386819303
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -563.7009382383362,
+            483.9979686751264,
+            -15.388888386819303
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -562.2009382383362,
+            486.5960448864797,
+            -15.388888386819303
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -560.7009382383362,
+            489.19412109783303,
+            -15.388888386819303
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -559.2009382383362,
+            491.79219730918635,
+            -15.388888386819303
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -557.7009382383362,
+            494.39027352053967,
+            -15.388888386819303
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -556.2009382383362,
+            496.988349731893,
+            -15.388888386819303
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -554.7009382383362,
+            499.5864259432463,
+            -15.388888386819303
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -554.7009382383362,
+            499.5864259432463,
+            -15.388888386819303
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -552.1028620269828,
+            501.0864259432463,
+            -15.388888386819303
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -549.5047858156295,
+            502.5864259432463,
+            -15.388888386819303
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -545.2693195343018,
+            507.36531829833984,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -546.9067096042761,
+            504.0864259432463,
+            -15.388888386819303
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -546.9067096042761,
+            504.0864259432463,
+            -15.388888386819303
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -543.9067096042761,
+            504.0864259432463,
+            -15.388888386819303
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -540.9067096042761,
+            504.0864259432463,
+            -15.388888386819303
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -537.9067096042761,
+            504.0864259432463,
+            -15.388888386819303
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -534.9067096042761,
+            504.0864259432463,
+            -15.388888386819303
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -531.9067096042761,
+            504.0864259432463,
+            -15.388888386819303
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -528.9067096042761,
+            504.0864259432463,
+            -15.388888386819303
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -525.9067096042761,
+            504.0864259432463,
+            -15.388888386819303
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -522.9067096042761,
+            504.0864259432463,
+            -15.388888386819303
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -522.9067096042761,
+            504.0864259432463,
+            -15.388888386819303
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -520.3086333929227,
+            502.5864259432463,
+            -15.388888386819303
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -517.7105571815694,
+            501.0864259432463,
+            -15.388888386819303
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -515.112480970216,
+            499.5864259432463,
+            -15.388888386819303
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -512.5144047588626,
+            498.0864259432463,
+            -15.388888386819303
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -509.9163285475093,
+            496.5864259432463,
+            -15.388888386819303
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -507.318252336156,
+            495.0864259432463,
+            -15.388888386819303
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -504.72017612480266,
+            493.5864259432463,
+            -15.388888386819303
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -502.12209991344935,
+            492.0864259432463,
+            -15.388888386819303
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -499.52402370209603,
+            490.5864259432463,
+            -15.388888386819303
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -496.9259474907427,
+            489.0864259432463,
+            -15.388888386819303
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -494.3278712793894,
+            487.5864259432463,
+            -15.388888386819303
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -491.7297950680361,
+            486.0864259432463,
+            -15.388888386819303
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -489.13171885668277,
+            484.5864259432463,
+            -15.388888386819303
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -486.53364264532945,
+            483.0864259432463,
+            -15.388888386819303
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -483.93556643397613,
+            481.5864259432463,
+            -15.388888386819303
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -481.3374902226228,
+            480.0864259432463,
+            -15.388888386819303
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -479.76721382141113,
+            480.29591369628906,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/long/2025-1-8_4-46-3_570073850/pose.jsonl b/Image/env_gs_sjtu02/astar_data/long/2025-1-8_4-46-3_570073850/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c973add8d28353c45a52da0b0455244185038e18
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/long/2025-1-8_4-46-3_570073850/pose.jsonl
@@ -0,0 +1,704 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -189.9429889482854,
+            504.04675481805486,
+            -11.980686412246556
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -192.54106515963872,
+            505.54675481805486,
+            -11.980686412246556
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -195.13914137099204,
+            507.04675481805486,
+            -11.980686412246556
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -197.73721758234535,
+            508.54675481805486,
+            -11.980686412246556
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -200.33529379369867,
+            510.04675481805486,
+            -11.980686412246556
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -202.93337000505198,
+            511.54675481805486,
+            -11.980686412246556
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -205.5314462164053,
+            513.0467548180549,
+            -11.980686412246556
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -208.12952242775862,
+            514.5467548180549,
+            -11.980686412246556
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -210.72759863911193,
+            516.0467548180549,
+            -11.980686412246556
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -213.32567485046525,
+            517.5467548180549,
+            -11.980686412246556
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -215.92375106181856,
+            519.0467548180549,
+            -11.980686412246556
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -218.52182727317188,
+            520.5467548180549,
+            -11.980686412246556
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -221.1199034845252,
+            522.0467548180549,
+            -11.980686412246556
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -223.7179796958785,
+            523.5467548180549,
+            -11.980686412246556
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -226.31605590723183,
+            525.0467548180549,
+            -11.980686412246556
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -228.91413211858514,
+            526.5467548180549,
+            -11.980686412246556
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -231.51220832993846,
+            528.0467548180549,
+            -11.980686412246556
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -234.11028454129178,
+            529.5467548180549,
+            -11.980686412246556
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -236.7083607526451,
+            531.0467548180549,
+            -11.980686412246556
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -239.3064369639984,
+            532.5467548180549,
+            -11.980686412246556
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -241.90451317535172,
+            534.0467548180549,
+            -11.980686412246556
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -241.90451317535172,
+            534.0467548180549,
+            -11.980686412246556
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -243.40451317535172,
+            536.6448310294081,
+            -11.980686412246556
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -244.90451317535172,
+            539.2429072407615,
+            -11.980686412246556
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -246.40451317535172,
+            541.8409834521149,
+            -11.980686412246556
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -247.90451317535172,
+            544.4390596634682,
+            -11.980686412246556
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -249.40451317535172,
+            547.0371358748216,
+            -11.980686412246556
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -254.11329460144043,
+            550.4007053375244,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -250.90451317535172,
+            549.635212086175,
+            -11.980686412246556
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -250.90451317535172,
+            549.635212086175,
+            -11.980686412246556
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -250.90451317535172,
+            552.635212086175,
+            -11.980686412246556
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -250.90451317535172,
+            555.635212086175,
+            -11.980686412246556
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -250.90451317535172,
+            558.635212086175,
+            -11.980686412246556
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -250.90451317535172,
+            561.635212086175,
+            -11.980686412246556
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -250.90451317535172,
+            564.635212086175,
+            -11.980686412246556
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -250.90451317535172,
+            567.635212086175,
+            -11.980686412246556
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -250.90451317535172,
+            570.635212086175,
+            -11.980686412246556
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -250.90451317535172,
+            573.635212086175,
+            -11.980686412246556
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -250.90451317535172,
+            576.635212086175,
+            -11.980686412246556
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -250.90451317535172,
+            579.635212086175,
+            -11.980686412246556
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -250.90451317535172,
+            582.635212086175,
+            -11.980686412246556
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -250.90451317535172,
+            585.635212086175,
+            -11.980686412246556
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -250.90451317535172,
+            588.635212086175,
+            -11.980686412246556
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -250.90451317535172,
+            591.635212086175,
+            -11.980686412246556
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -250.90451317535172,
+            594.635212086175,
+            -11.980686412246556
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -250.90451317535172,
+            597.635212086175,
+            -11.980686412246556
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -250.90451317535172,
+            600.635212086175,
+            -11.980686412246556
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -250.90451317535172,
+            600.635212086175,
+            -11.980686412246556
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -250.90451317535172,
+            600.635212086175,
+            -11.980686412246556
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -253.50258938670504,
+            602.135212086175,
+            -11.980686412246556
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -256.10066559805836,
+            603.635212086175,
+            -11.980686412246556
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -258.6987418094117,
+            605.135212086175,
+            -11.980686412246556
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -261.296818020765,
+            606.635212086175,
+            -11.980686412246556
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -260.7199411392212,
+            609.1296615600586,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/long/2025-1-8_5-12-4_1242608872/pose.jsonl b/Image/env_gs_sjtu02/astar_data/long/2025-1-8_5-12-4_1242608872/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..890aca01e8823b32076d879d62ab7d1af72cce99
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/long/2025-1-8_5-12-4_1242608872/pose.jsonl
@@ -0,0 +1,743 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -530.6785318636499,
+            452.1791112825406,
+            -2.4457302382795447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -533.6785318636499,
+            452.1791112825406,
+            -2.4457302382795447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -536.6785318636499,
+            452.1791112825406,
+            -2.4457302382795447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -539.6785318636499,
+            452.1791112825406,
+            -2.4457302382795447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -542.6785318636499,
+            452.1791112825406,
+            -2.4457302382795447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -545.6785318636499,
+            452.1791112825406,
+            -2.4457302382795447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -548.6785318636499,
+            452.1791112825406,
+            -2.4457302382795447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -551.6785318636499,
+            452.1791112825406,
+            -2.4457302382795447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -554.6785318636499,
+            452.1791112825406,
+            -2.4457302382795447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -557.6785318636499,
+            452.1791112825406,
+            -2.4457302382795447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -560.6785318636499,
+            452.1791112825406,
+            -2.4457302382795447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -563.6785318636499,
+            452.1791112825406,
+            -2.4457302382795447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -566.6785318636499,
+            452.1791112825406,
+            -2.4457302382795447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -569.6785318636499,
+            452.1791112825406,
+            -2.4457302382795447
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -569.6785318636499,
+            452.1791112825406,
+            -2.4457302382795447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -572.2766080750032,
+            453.6791112825406,
+            -2.4457302382795447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -574.8746842863566,
+            455.1791112825406,
+            -2.4457302382795447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -577.4727604977099,
+            456.6791112825406,
+            -2.4457302382795447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -580.0708367090633,
+            458.1791112825406,
+            -2.4457302382795447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -582.6689129204167,
+            459.6791112825406,
+            -2.4457302382795447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -585.2669891317701,
+            461.1791112825406,
+            -2.4457302382795447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -587.8650653431234,
+            462.6791112825406,
+            -2.4457302382795447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -590.4631415544768,
+            464.1791112825406,
+            -2.4457302382795447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -593.0612177658302,
+            465.6791112825406,
+            -2.4457302382795447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -595.6592939771836,
+            467.1791112825406,
+            -2.4457302382795447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -598.2573701885369,
+            468.6791112825406,
+            -2.4457302382795447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -603.3111000061035,
+            469.6691150665283,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -600.8554463998903,
+            470.1791112825406,
+            -2.4457302382795447
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -600.8554463998903,
+            470.1791112825406,
+            -2.4457302382795447
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -600.8554463998903,
+            470.1791112825406,
+            -2.4457302382795447
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.570796326794906
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -600.8554463998903,
+            470.1791112825406,
+            -2.4457302382795447
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -600.8554463998903,
+            470.1791112825406,
+            -2.4457302382795447
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755983085
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -600.8554463998903,
+            470.1791112825406,
+            -2.4457302382795447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -598.2573701885369,
+            471.6791112825406,
+            -2.4457302382795447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -595.6592939771836,
+            473.1791112825406,
+            -2.4457302382795447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -593.0612177658302,
+            474.6791112825406,
+            -2.4457302382795447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -590.4631415544768,
+            476.1791112825406,
+            -2.4457302382795447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -587.8650653431234,
+            477.6791112825406,
+            -2.4457302382795447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -585.2669891317701,
+            479.1791112825406,
+            -2.4457302382795447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -582.6689129204167,
+            480.6791112825406,
+            -2.4457302382795447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -580.0708367090633,
+            482.1791112825406,
+            -2.4457302382795447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -577.4727604977099,
+            483.6791112825406,
+            -2.4457302382795447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -574.8746842863566,
+            485.1791112825406,
+            -2.4457302382795447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -572.2766080750032,
+            486.6791112825406,
+            -2.4457302382795447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -569.6785318636498,
+            488.1791112825406,
+            -2.4457302382795447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -567.0804556522965,
+            489.6791112825406,
+            -2.4457302382795447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -564.4823794409431,
+            491.1791112825406,
+            -2.4457302382795447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -561.8843032295897,
+            492.6791112825406,
+            -2.4457302382795447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -559.2862270182363,
+            494.1791112825406,
+            -2.4457302382795447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -556.688150806883,
+            495.6791112825406,
+            -2.4457302382795447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -554.0900745955296,
+            497.1791112825406,
+            -2.4457302382795447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -551.4919983841762,
+            498.6791112825406,
+            -2.4457302382795447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -548.8939221728228,
+            500.1791112825406,
+            -2.4457302382795447
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -548.8939221728228,
+            500.1791112825406,
+            -2.4457302382795447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -547.3939221728228,
+            502.7771874938939,
+            -2.4457302382795447
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -545.8939221728228,
+            505.3752637052472,
+            -2.4457302382795447
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -545.2693195343018,
+            507.36531829833984,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/long/2025-1-8_5-20-27_364319529/pose.jsonl b/Image/env_gs_sjtu02/astar_data/long/2025-1-8_5-20-27_364319529/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5e1a74fcc69a54ea3e2ec062ce15cae2c1975456
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/long/2025-1-8_5-20-27_364319529/pose.jsonl
@@ -0,0 +1,5176 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -671.7442265977495,
+            793.2441297756018,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -674.3423028091029,
+            791.7441297756018,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -676.9403790204562,
+            790.2441297756018,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -679.5384552318096,
+            788.7441297756018,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -682.136531443163,
+            787.2441297756018,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -684.7346076545164,
+            785.7441297756018,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -687.3326838658697,
+            784.2441297756018,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -689.9307600772231,
+            782.7441297756018,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -692.5288362885765,
+            781.2441297756018,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -695.1269124999299,
+            779.7441297756018,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -697.7249887112832,
+            778.2441297756018,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -700.3230649226366,
+            776.7441297756018,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -702.92114113399,
+            775.2441297756018,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -705.5192173453433,
+            773.7441297756018,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -708.1172935566967,
+            772.2441297756018,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -710.7153697680501,
+            770.7441297756018,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -713.3134459794035,
+            769.2441297756018,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -715.9115221907568,
+            767.7441297756018,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -718.5095984021102,
+            766.2441297756018,
+            -8.665553260121495
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -718.5095984021102,
+            766.2441297756018,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -721.5095984021102,
+            766.2441297756018,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -724.5095984021102,
+            766.2441297756018,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -727.5095984021102,
+            766.2441297756018,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -730.5095984021102,
+            766.2441297756018,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -733.5095984021102,
+            766.2441297756018,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -740.0974159240723,
+            764.462329864502,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -736.5095984021102,
+            766.2441297756018,
+            -8.665553260121495
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -736.5095984021102,
+            766.2441297756018,
+            -8.665553260121495
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -736.5095984021102,
+            766.2441297756018,
+            -8.665553260121495
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -736.5095984021102,
+            766.2441297756018,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -735.0095984021102,
+            763.6460535642484,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -733.5095984021102,
+            761.047977352895,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -732.0095984021102,
+            758.4499011415417,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -730.5095984021102,
+            755.8518249301883,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -729.0095984021102,
+            753.2537487188349,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -727.5095984021102,
+            750.6556725074815,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -726.0095984021102,
+            748.0575962961282,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -724.5095984021102,
+            745.4595200847748,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -723.0095984021102,
+            742.8614438734214,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -721.5095984021102,
+            740.263367662068,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -720.0095984021102,
+            737.6652914507147,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -718.5095984021102,
+            735.0672152393613,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -717.0095984021102,
+            732.4691390280079,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -715.5095984021102,
+            729.8710628166546,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -714.0095984021102,
+            727.2729866053012,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -712.5095984021102,
+            724.6749103939478,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -711.0095984021102,
+            722.0768341825944,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -709.5095984021102,
+            719.4787579712411,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -708.0095984021102,
+            716.8806817598877,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -706.5095984021102,
+            714.2826055485343,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -705.0095984021102,
+            711.684529337181,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -703.5095984021102,
+            709.0864531258276,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -702.0095984021102,
+            706.4883769144742,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -700.5095984021102,
+            703.8903007031208,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -699.0095984021102,
+            701.2922244917675,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -697.5095984021102,
+            698.6941482804141,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -696.0095984021102,
+            696.0960720690607,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -694.5095984021102,
+            693.4979958577073,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            -693.0095984021102,
+            690.899919646354,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            -691.5095984021102,
+            688.3018434350006,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            -690.0095984021102,
+            685.7037672236472,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            -688.5095984021102,
+            683.1056910122938,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            -687.0095984021102,
+            680.5076148009405,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            -685.5095984021102,
+            677.9095385895871,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            -684.0095984021102,
+            675.3114623782337,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            -682.5095984021102,
+            672.7133861668804,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            -681.0095984021102,
+            670.115309955527,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            -679.5095984021102,
+            667.5172337441736,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            -678.0095984021102,
+            664.9191575328202,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            -676.5095984021102,
+            662.3210813214669,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            -675.0095984021102,
+            659.7230051101135,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            -673.5095984021102,
+            657.1249288987601,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            -672.0095984021102,
+            654.5268526874067,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            -670.5095984021102,
+            651.9287764760534,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            -669.0095984021102,
+            649.3307002647,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            -667.5095984021102,
+            646.7326240533466,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            -666.0095984021102,
+            644.1345478419933,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            -664.5095984021102,
+            641.5364716306399,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            -663.0095984021102,
+            638.9383954192865,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            -661.5095984021102,
+            636.3403192079331,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            -660.0095984021102,
+            633.7422429965798,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 81,
+        "pos": [
+            -658.5095984021102,
+            631.1441667852264,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 82,
+        "pos": [
+            -657.0095984021102,
+            628.546090573873,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 83,
+        "pos": [
+            -655.5095984021102,
+            625.9480143625196,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 84,
+        "pos": [
+            -654.0095984021102,
+            623.3499381511663,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 85,
+        "pos": [
+            -652.5095984021102,
+            620.7518619398129,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 86,
+        "pos": [
+            -651.0095984021102,
+            618.1537857284595,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 87,
+        "pos": [
+            -649.5095984021102,
+            615.5557095171062,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 88,
+        "pos": [
+            -648.0095984021102,
+            612.9576333057528,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 89,
+        "pos": [
+            -646.5095984021102,
+            610.3595570943994,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 90,
+        "pos": [
+            -645.0095984021102,
+            607.761480883046,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 91,
+        "pos": [
+            -643.5095984021102,
+            605.1634046716927,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 92,
+        "pos": [
+            -642.0095984021102,
+            602.5653284603393,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 93,
+        "pos": [
+            -640.5095984021102,
+            599.9672522489859,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 94,
+        "pos": [
+            -639.0095984021102,
+            597.3691760376325,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 95,
+        "pos": [
+            -637.5095984021102,
+            594.7710998262792,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 96,
+        "pos": [
+            -636.0095984021102,
+            592.1730236149258,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 97,
+        "pos": [
+            -634.5095984021102,
+            589.5749474035724,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 98,
+        "pos": [
+            -633.0095984021102,
+            586.976871192219,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 99,
+        "pos": [
+            -631.5095984021102,
+            584.3787949808657,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 100,
+        "pos": [
+            -630.0095984021102,
+            581.7807187695123,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 101,
+        "pos": [
+            -628.5095984021102,
+            579.1826425581589,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 102,
+        "pos": [
+            -627.0095984021102,
+            576.5845663468056,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 103,
+        "pos": [
+            -625.5095984021102,
+            573.9864901354522,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 104,
+        "pos": [
+            -624.0095984021102,
+            571.3884139240988,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 105,
+        "pos": [
+            -622.5095984021102,
+            568.7903377127454,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 106,
+        "pos": [
+            -621.0095984021102,
+            566.1922615013921,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 107,
+        "pos": [
+            -619.5095984021102,
+            563.5941852900387,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 108,
+        "pos": [
+            -618.0095984021102,
+            560.9961090786853,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 109,
+        "pos": [
+            -616.5095984021102,
+            558.398032867332,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 110,
+        "pos": [
+            -615.0095984021102,
+            555.7999566559786,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 111,
+        "pos": [
+            -613.5095984021102,
+            553.2018804446252,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 112,
+        "pos": [
+            -612.0095984021102,
+            550.6038042332718,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 113,
+        "pos": [
+            -610.5095984021102,
+            548.0057280219185,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 114,
+        "pos": [
+            -609.0095984021102,
+            545.4076518105651,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 115,
+        "pos": [
+            -607.5095984021102,
+            542.8095755992117,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 116,
+        "pos": [
+            -606.0095984021102,
+            540.2114993878583,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 117,
+        "pos": [
+            -604.5095984021102,
+            537.613423176505,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 118,
+        "pos": [
+            -603.0095984021102,
+            535.0153469651516,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 119,
+        "pos": [
+            -601.5095984021102,
+            532.4172707537982,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 120,
+        "pos": [
+            -600.0095984021102,
+            529.8191945424448,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 121,
+        "pos": [
+            -598.5095984021102,
+            527.2211183310915,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 122,
+        "pos": [
+            -597.0095984021102,
+            524.6230421197381,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 123,
+        "pos": [
+            -595.5095984021102,
+            522.0249659083847,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 124,
+        "pos": [
+            -594.0095984021102,
+            519.4268896970314,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 125,
+        "pos": [
+            -592.5095984021102,
+            516.828813485678,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 126,
+        "pos": [
+            -591.0095984021102,
+            514.2307372743246,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 127,
+        "pos": [
+            -589.5095984021102,
+            511.6326610629713,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 128,
+        "pos": [
+            -588.0095984021102,
+            509.034584851618,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 129,
+        "pos": [
+            -586.5095984021102,
+            506.43650864026466,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 130,
+        "pos": [
+            -585.0095984021102,
+            503.83843242891135,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 131,
+        "pos": [
+            -583.5095984021102,
+            501.24035621755803,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 132,
+        "pos": [
+            -582.0095984021102,
+            498.6422800062047,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 133,
+        "pos": [
+            -580.5095984021102,
+            496.0442037948514,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 134,
+        "pos": [
+            -579.0095984021102,
+            493.4461275834981,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 135,
+        "pos": [
+            -577.5095984021102,
+            490.84805137214477,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 136,
+        "pos": [
+            -576.0095984021102,
+            488.24997516079145,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 137,
+        "pos": [
+            -574.5095984021102,
+            485.65189894943813,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 138,
+        "pos": [
+            -573.0095984021102,
+            483.0538227380848,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 139,
+        "pos": [
+            -571.5095984021102,
+            480.4557465267315,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 140,
+        "pos": [
+            -570.0095984021102,
+            477.8576703153782,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 141,
+        "pos": [
+            -568.5095984021102,
+            475.25959410402487,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 142,
+        "pos": [
+            -567.0095984021102,
+            472.66151789267155,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 143,
+        "pos": [
+            -565.5095984021102,
+            470.06344168131824,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 144,
+        "pos": [
+            -564.0095984021102,
+            467.4653654699649,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 145,
+        "pos": [
+            -562.5095984021102,
+            464.8672892586116,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 146,
+        "pos": [
+            -561.0095984021102,
+            462.2692130472583,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 147,
+        "pos": [
+            -559.5095984021102,
+            459.671136835905,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 148,
+        "pos": [
+            -558.0095984021102,
+            457.07306062455166,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 149,
+        "pos": [
+            -556.5095984021102,
+            454.47498441319834,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 150,
+        "pos": [
+            -555.0095984021102,
+            451.876908201845,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 151,
+        "pos": [
+            -553.5095984021102,
+            449.2788319904917,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 152,
+        "pos": [
+            -552.0095984021102,
+            446.6807557791384,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 153,
+        "pos": [
+            -550.5095984021102,
+            444.0826795677851,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 154,
+        "pos": [
+            -549.0095984021102,
+            441.48460335643176,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 155,
+        "pos": [
+            -547.5095984021102,
+            438.88652714507845,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 156,
+        "pos": [
+            -546.0095984021102,
+            436.28845093372513,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 157,
+        "pos": [
+            -544.5095984021102,
+            433.6903747223718,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 158,
+        "pos": [
+            -543.0095984021102,
+            431.0922985110185,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 159,
+        "pos": [
+            -541.5095984021102,
+            428.4942222996652,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 160,
+        "pos": [
+            -540.0095984021102,
+            425.89614608831187,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 161,
+        "pos": [
+            -538.5095984021102,
+            423.29806987695855,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 162,
+        "pos": [
+            -537.0095984021102,
+            420.69999366560523,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 163,
+        "pos": [
+            -535.5095984021102,
+            418.1019174542519,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 164,
+        "pos": [
+            -534.0095984021102,
+            415.5038412428986,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 165,
+        "pos": [
+            -532.5095984021102,
+            412.9057650315453,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 166,
+        "pos": [
+            -531.0095984021102,
+            410.30768882019197,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 167,
+        "pos": [
+            -529.5095984021102,
+            407.70961260883865,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 168,
+        "pos": [
+            -528.0095984021102,
+            405.11153639748534,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 169,
+        "pos": [
+            -526.5095984021102,
+            402.513460186132,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 170,
+        "pos": [
+            -525.0095984021102,
+            399.9153839747787,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 171,
+        "pos": [
+            -523.5095984021102,
+            397.3173077634254,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 172,
+        "pos": [
+            -522.0095984021102,
+            394.7192315520721,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 173,
+        "pos": [
+            -520.5095984021102,
+            392.12115534071876,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 174,
+        "pos": [
+            -519.0095984021102,
+            389.52307912936544,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 175,
+        "pos": [
+            -517.5095984021102,
+            386.9250029180121,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 176,
+        "pos": [
+            -516.0095984021102,
+            384.3269267066588,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 177,
+        "pos": [
+            -514.5095984021102,
+            381.7288504953055,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 178,
+        "pos": [
+            -513.0095984021102,
+            379.1307742839522,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 179,
+        "pos": [
+            -511.5095984021102,
+            376.53269807259886,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 180,
+        "pos": [
+            -510.0095984021102,
+            373.93462186124555,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 181,
+        "pos": [
+            -508.5095984021102,
+            371.33654564989223,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 182,
+        "pos": [
+            -507.0095984021102,
+            368.7384694385389,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 183,
+        "pos": [
+            -505.5095984021102,
+            366.1403932271856,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 184,
+        "pos": [
+            -504.0095984021102,
+            363.5423170158323,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 185,
+        "pos": [
+            -502.5095984021102,
+            360.94424080447897,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 186,
+        "pos": [
+            -501.0095984021102,
+            358.34616459312565,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 187,
+        "pos": [
+            -499.5095984021102,
+            355.74808838177233,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 188,
+        "pos": [
+            -498.0095984021102,
+            353.150012170419,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 189,
+        "pos": [
+            -496.5095984021102,
+            350.5519359590657,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 190,
+        "pos": [
+            -495.0095984021102,
+            347.9538597477124,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 191,
+        "pos": [
+            -493.5095984021102,
+            345.35578353635907,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 192,
+        "pos": [
+            -492.0095984021102,
+            342.75770732500575,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 193,
+        "pos": [
+            -490.5095984021102,
+            340.15963111365244,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 194,
+        "pos": [
+            -489.0095984021102,
+            337.5615549022991,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 195,
+        "pos": [
+            -487.5095984021102,
+            334.9634786909458,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 196,
+        "pos": [
+            -486.0095984021102,
+            332.3654024795925,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 197,
+        "pos": [
+            -484.5095984021102,
+            329.7673262682392,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 198,
+        "pos": [
+            -483.0095984021102,
+            327.16925005688586,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 199,
+        "pos": [
+            -481.5095984021102,
+            324.57117384553254,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 200,
+        "pos": [
+            -480.0095984021102,
+            321.9730976341792,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 201,
+        "pos": [
+            -478.5095984021102,
+            319.3750214228259,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 202,
+        "pos": [
+            -477.0095984021102,
+            316.7769452114726,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 203,
+        "pos": [
+            -475.5095984021102,
+            314.1788690001193,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 204,
+        "pos": [
+            -474.0095984021102,
+            311.58079278876596,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 205,
+        "pos": [
+            -472.5095984021102,
+            308.98271657741265,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 206,
+        "pos": [
+            -471.0095984021102,
+            306.38464036605933,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 207,
+        "pos": [
+            -469.5095984021102,
+            303.786564154706,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 208,
+        "pos": [
+            -468.0095984021102,
+            301.1884879433527,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 209,
+        "pos": [
+            -466.5095984021102,
+            298.5904117319994,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 210,
+        "pos": [
+            -465.0095984021102,
+            295.99233552064607,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 211,
+        "pos": [
+            -463.5095984021102,
+            293.39425930929275,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 212,
+        "pos": [
+            -462.0095984021102,
+            290.79618309793943,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 213,
+        "pos": [
+            -460.5095984021102,
+            288.1981068865861,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 214,
+        "pos": [
+            -459.0095984021102,
+            285.6000306752328,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 215,
+        "pos": [
+            -457.5095984021102,
+            283.0019544638795,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 216,
+        "pos": [
+            -456.0095984021102,
+            280.40387825252617,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 217,
+        "pos": [
+            -454.5095984021102,
+            277.80580204117285,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 218,
+        "pos": [
+            -453.0095984021102,
+            275.20772582981954,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 219,
+        "pos": [
+            -451.5095984021102,
+            272.6096496184662,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 220,
+        "pos": [
+            -450.0095984021102,
+            270.0115734071129,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 221,
+        "pos": [
+            -448.5095984021102,
+            267.4134971957596,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 222,
+        "pos": [
+            -447.0095984021102,
+            264.8154209844063,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 223,
+        "pos": [
+            -445.5095984021102,
+            262.21734477305296,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 224,
+        "pos": [
+            -444.0095984021102,
+            259.61926856169964,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 225,
+        "pos": [
+            -442.5095984021102,
+            257.0211923503463,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 226,
+        "pos": [
+            -441.0095984021102,
+            254.423116138993,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 227,
+        "pos": [
+            -439.5095984021102,
+            251.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 228,
+        "pos": [
+            -439.5095984021102,
+            251.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 229,
+        "pos": [
+            -436.9115221907569,
+            250.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 230,
+        "pos": [
+            -434.3134459794036,
+            248.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 231,
+        "pos": [
+            -431.71536976805027,
+            247.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 232,
+        "pos": [
+            -429.11729355669695,
+            245.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 233,
+        "pos": [
+            -426.51921734534363,
+            244.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 234,
+        "pos": [
+            -423.9211411339903,
+            242.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 235,
+        "pos": [
+            -421.323064922637,
+            241.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 236,
+        "pos": [
+            -418.7249887112837,
+            239.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 237,
+        "pos": [
+            -416.12691249993037,
+            238.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 238,
+        "pos": [
+            -413.52883628857705,
+            236.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 239,
+        "pos": [
+            -410.93076007722374,
+            235.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 240,
+        "pos": [
+            -408.3326838658704,
+            233.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 241,
+        "pos": [
+            -405.7346076545171,
+            232.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 242,
+        "pos": [
+            -403.1365314431638,
+            230.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 243,
+        "pos": [
+            -400.5384552318105,
+            229.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 244,
+        "pos": [
+            -397.94037902045716,
+            227.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 245,
+        "pos": [
+            -395.34230280910384,
+            226.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 246,
+        "pos": [
+            -392.7442265977505,
+            224.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 247,
+        "pos": [
+            -390.1461503863972,
+            223.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 248,
+        "pos": [
+            -387.5480741750439,
+            221.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 249,
+        "pos": [
+            -384.9499979636906,
+            220.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 250,
+        "pos": [
+            -382.35192175233726,
+            218.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 251,
+        "pos": [
+            -379.75384554098395,
+            217.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 252,
+        "pos": [
+            -377.15576932963063,
+            215.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 253,
+        "pos": [
+            -374.5576931182773,
+            214.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 254,
+        "pos": [
+            -371.959616906924,
+            212.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 255,
+        "pos": [
+            -369.3615406955707,
+            211.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 256,
+        "pos": [
+            -366.76346448421737,
+            209.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 257,
+        "pos": [
+            -364.16538827286405,
+            208.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 258,
+        "pos": [
+            -361.56731206151073,
+            206.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 259,
+        "pos": [
+            -358.9692358501574,
+            205.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 260,
+        "pos": [
+            -356.3711596388041,
+            203.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 261,
+        "pos": [
+            -353.7730834274508,
+            202.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 262,
+        "pos": [
+            -351.17500721609747,
+            200.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 263,
+        "pos": [
+            -348.57693100474415,
+            199.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 264,
+        "pos": [
+            -345.97885479339084,
+            197.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 265,
+        "pos": [
+            -343.3807785820375,
+            196.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 266,
+        "pos": [
+            -340.7827023706842,
+            194.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 267,
+        "pos": [
+            -338.1846261593309,
+            193.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 268,
+        "pos": [
+            -335.5865499479776,
+            191.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 269,
+        "pos": [
+            -332.98847373662426,
+            190.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 270,
+        "pos": [
+            -330.39039752527094,
+            188.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 271,
+        "pos": [
+            -327.7923213139176,
+            187.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 272,
+        "pos": [
+            -325.1942451025643,
+            185.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 273,
+        "pos": [
+            -322.596168891211,
+            184.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 274,
+        "pos": [
+            -319.9980926798577,
+            182.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 275,
+        "pos": [
+            -317.40001646850436,
+            181.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 276,
+        "pos": [
+            -314.80194025715105,
+            179.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 277,
+        "pos": [
+            -312.20386404579773,
+            178.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 278,
+        "pos": [
+            -309.6057878344444,
+            176.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 279,
+        "pos": [
+            -307.0077116230911,
+            175.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 280,
+        "pos": [
+            -304.4096354117378,
+            173.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 281,
+        "pos": [
+            -301.81155920038447,
+            172.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 282,
+        "pos": [
+            -299.21348298903115,
+            170.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 283,
+        "pos": [
+            -296.61540677767783,
+            169.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 284,
+        "pos": [
+            -294.0173305663245,
+            167.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 285,
+        "pos": [
+            -291.4192543549712,
+            166.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 286,
+        "pos": [
+            -288.8211781436179,
+            164.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 287,
+        "pos": [
+            -286.22310193226457,
+            163.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 288,
+        "pos": [
+            -283.62502572091125,
+            161.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 289,
+        "pos": [
+            -281.02694950955794,
+            160.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 290,
+        "pos": [
+            -278.4288732982046,
+            158.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 291,
+        "pos": [
+            -275.8307970868513,
+            157.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 292,
+        "pos": [
+            -273.232720875498,
+            155.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 293,
+        "pos": [
+            -270.6346446641447,
+            154.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 294,
+        "pos": [
+            -268.03656845279136,
+            152.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 295,
+        "pos": [
+            -265.43849224143804,
+            151.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 296,
+        "pos": [
+            -262.8404160300847,
+            149.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 297,
+        "pos": [
+            -260.2423398187314,
+            148.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 298,
+        "pos": [
+            -257.6442636073781,
+            146.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 299,
+        "pos": [
+            -255.04618739602478,
+            145.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 300,
+        "pos": [
+            -252.44811118467146,
+            143.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 301,
+        "pos": [
+            -249.85003497331815,
+            142.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 302,
+        "pos": [
+            -247.25195876196483,
+            140.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 303,
+        "pos": [
+            -244.6538825506115,
+            139.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 304,
+        "pos": [
+            -242.0558063392582,
+            137.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 305,
+        "pos": [
+            -239.45773012790488,
+            136.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 306,
+        "pos": [
+            -236.85965391655157,
+            134.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 307,
+        "pos": [
+            -234.26157770519825,
+            133.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 308,
+        "pos": [
+            -231.66350149384493,
+            131.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 309,
+        "pos": [
+            -229.06542528249162,
+            130.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 310,
+        "pos": [
+            -226.4673490711383,
+            128.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 311,
+        "pos": [
+            -223.86927285978499,
+            127.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 312,
+        "pos": [
+            -221.27119664843167,
+            125.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 313,
+        "pos": [
+            -218.67312043707835,
+            124.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 314,
+        "pos": [
+            -216.07504422572504,
+            122.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 315,
+        "pos": [
+            -213.47696801437172,
+            121.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 316,
+        "pos": [
+            -210.8788918030184,
+            119.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 317,
+        "pos": [
+            -208.2808155916651,
+            118.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 318,
+        "pos": [
+            -205.68273938031177,
+            116.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 319,
+        "pos": [
+            -203.08466316895846,
+            115.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 320,
+        "pos": [
+            -200.48658695760514,
+            113.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 321,
+        "pos": [
+            -197.88851074625182,
+            112.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 322,
+        "pos": [
+            -195.2904345348985,
+            110.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 323,
+        "pos": [
+            -192.6923583235452,
+            109.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 324,
+        "pos": [
+            -190.09428211219188,
+            107.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 325,
+        "pos": [
+            -187.49620590083856,
+            106.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 326,
+        "pos": [
+            -184.89812968948524,
+            104.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 327,
+        "pos": [
+            -182.30005347813193,
+            103.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 328,
+        "pos": [
+            -179.7019772667786,
+            101.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 329,
+        "pos": [
+            -177.1039010554253,
+            100.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 330,
+        "pos": [
+            -174.50582484407198,
+            98.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 331,
+        "pos": [
+            -171.90774863271866,
+            97.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 332,
+        "pos": [
+            -169.30967242136535,
+            95.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 333,
+        "pos": [
+            -166.71159621001203,
+            94.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 334,
+        "pos": [
+            -164.11351999865872,
+            92.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 335,
+        "pos": [
+            -161.5154437873054,
+            91.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 336,
+        "pos": [
+            -158.91736757595208,
+            89.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 337,
+        "pos": [
+            -156.31929136459877,
+            88.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 338,
+        "pos": [
+            -153.72121515324545,
+            86.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 339,
+        "pos": [
+            -151.12313894189214,
+            85.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 340,
+        "pos": [
+            -148.52506273053882,
+            83.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 341,
+        "pos": [
+            -145.9269865191855,
+            82.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 342,
+        "pos": [
+            -143.3289103078322,
+            80.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 343,
+        "pos": [
+            -140.73083409647887,
+            79.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 344,
+        "pos": [
+            -138.13275788512556,
+            77.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 345,
+        "pos": [
+            -135.53468167377224,
+            76.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 346,
+        "pos": [
+            -132.93660546241892,
+            74.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 347,
+        "pos": [
+            -130.3385292510656,
+            73.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 348,
+        "pos": [
+            -127.74045303971229,
+            71.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 349,
+        "pos": [
+            -125.14237682835898,
+            70.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 350,
+        "pos": [
+            -122.54430061700566,
+            68.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 351,
+        "pos": [
+            -119.94622440565234,
+            67.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 352,
+        "pos": [
+            -117.34814819429903,
+            65.8250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 353,
+        "pos": [
+            -114.75007198294571,
+            64.3250399276397,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 354,
+        "pos": [
+            -112.1519957715924,
+            62.82503992763969,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 355,
+        "pos": [
+            -109.55391956023908,
+            61.32503992763969,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 356,
+        "pos": [
+            -106.95584334888576,
+            59.82503992763969,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 357,
+        "pos": [
+            -104.35776713753245,
+            58.32503992763969,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 358,
+        "pos": [
+            -101.75969092617913,
+            56.82503992763969,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 359,
+        "pos": [
+            -99.16161471482582,
+            55.32503992763969,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 360,
+        "pos": [
+            -96.5635385034725,
+            53.82503992763969,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 361,
+        "pos": [
+            -93.96546229211918,
+            52.32503992763969,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 362,
+        "pos": [
+            -91.36738608076587,
+            50.82503992763969,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 363,
+        "pos": [
+            -88.76930986941255,
+            49.32503992763969,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 364,
+        "pos": [
+            -86.17123365805924,
+            47.82503992763969,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 365,
+        "pos": [
+            -83.57315744670592,
+            46.32503992763969,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 366,
+        "pos": [
+            -80.9750812353526,
+            44.82503992763969,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 367,
+        "pos": [
+            -78.37700502399929,
+            43.32503992763969,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 368,
+        "pos": [
+            -75.77892881264597,
+            41.82503992763969,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 369,
+        "pos": [
+            -73.18085260129266,
+            40.32503992763969,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 370,
+        "pos": [
+            -70.58277638993934,
+            38.82503992763969,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 371,
+        "pos": [
+            -67.98470017858602,
+            37.32503992763969,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 372,
+        "pos": [
+            -65.38662396723271,
+            35.82503992763969,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 373,
+        "pos": [
+            -62.78854775587939,
+            34.32503992763969,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 374,
+        "pos": [
+            -60.190471544526076,
+            32.82503992763969,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 375,
+        "pos": [
+            -57.59239533317276,
+            31.325039927639693,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 376,
+        "pos": [
+            -54.994319121819444,
+            29.825039927639693,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 377,
+        "pos": [
+            -52.39624291046613,
+            28.325039927639693,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 378,
+        "pos": [
+            -49.79816669911281,
+            26.825039927639693,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 379,
+        "pos": [
+            -47.200090487759496,
+            25.325039927639693,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 380,
+        "pos": [
+            -44.60201427640618,
+            23.825039927639693,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 381,
+        "pos": [
+            -42.003938065052864,
+            22.325039927639693,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 382,
+        "pos": [
+            -39.40586185369955,
+            20.825039927639693,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 383,
+        "pos": [
+            -36.80778564234623,
+            19.325039927639693,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 384,
+        "pos": [
+            -34.209709430992916,
+            17.825039927639693,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 385,
+        "pos": [
+            -31.6116332196396,
+            16.325039927639693,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 386,
+        "pos": [
+            -29.013557008286284,
+            14.825039927639693,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 387,
+        "pos": [
+            -26.415480796932968,
+            13.325039927639693,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 388,
+        "pos": [
+            -23.817404585579652,
+            11.825039927639693,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 389,
+        "pos": [
+            -21.219328374226336,
+            10.325039927639693,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 390,
+        "pos": [
+            -18.62125216287302,
+            8.825039927639693,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 391,
+        "pos": [
+            -16.023175951519704,
+            7.325039927639693,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 392,
+        "pos": [
+            -13.425099740166388,
+            5.825039927639693,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 393,
+        "pos": [
+            -10.827023528813072,
+            4.325039927639693,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 394,
+        "pos": [
+            -8.228947317459756,
+            2.8250399276396934,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 395,
+        "pos": [
+            -5.63087110610644,
+            1.3250399276396936,
+            -8.665553260121495
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 396,
+        "pos": [
+            -3.032794894753124,
+            -0.1749600723603062,
+            -8.665553260121495
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "",
+        "feature": "",
+        "position": [
+            0.0,
+            0.0,
+            0.0
+        ],
+        "shape": "",
+        "size": "",
+        "type": ""
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/long/2025-1-8_5-45-7_1583571043/pose.jsonl b/Image/env_gs_sjtu02/astar_data/long/2025-1-8_5-45-7_1583571043/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c5009d126e3adcfb61ae0f076c0fd1e97f167f42
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/long/2025-1-8_5-45-7_1583571043/pose.jsonl
@@ -0,0 +1,5215 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -666.0101694073726,
+            774.9702219039059,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -669.0101694073726,
+            774.9702219039059,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -672.0101694073726,
+            774.9702219039059,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -675.0101694073726,
+            774.9702219039059,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -678.0101694073726,
+            774.9702219039059,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -681.0101694073726,
+            774.9702219039059,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -684.0101694073726,
+            774.9702219039059,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -687.0101694073726,
+            774.9702219039059,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -690.0101694073726,
+            774.9702219039059,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -693.0101694073726,
+            774.9702219039059,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -696.0101694073726,
+            774.9702219039059,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -699.0101694073726,
+            774.9702219039059,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -702.0101694073726,
+            774.9702219039059,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -705.0101694073726,
+            774.9702219039059,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -708.0101694073726,
+            774.9702219039059,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -711.0101694073726,
+            774.9702219039059,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -714.0101694073726,
+            774.9702219039059,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -717.0101694073726,
+            774.9702219039059,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -720.0101694073726,
+            774.9702219039059,
+            -12.922124485032064
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -720.0101694073726,
+            774.9702219039059,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -722.608245618726,
+            773.4702219039059,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -725.2063218300793,
+            771.9702219039059,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -727.8043980414327,
+            770.4702219039059,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -730.4024742527861,
+            768.9702219039059,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -733.0005504641395,
+            767.4702219039059,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -735.5986266754928,
+            765.9702219039059,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -740.0974159240723,
+            764.462329864502,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -738.1967028868462,
+            764.4702219039059,
+            -12.922124485032064
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -738.1967028868462,
+            764.4702219039059,
+            -12.922124485032064
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -738.1967028868462,
+            764.4702219039059,
+            -12.922124485032064
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.570796326794906
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -738.1967028868462,
+            764.4702219039059,
+            -12.922124485032064
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -738.1967028868462,
+            764.4702219039059,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -736.6967028868462,
+            761.8721456925525,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -735.1967028868462,
+            759.2740694811991,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -733.6967028868462,
+            756.6759932698458,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -732.1967028868462,
+            754.0779170584924,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -730.6967028868462,
+            751.479840847139,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -729.1967028868462,
+            748.8817646357857,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -727.6967028868462,
+            746.2836884244323,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -726.1967028868462,
+            743.6856122130789,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -724.6967028868462,
+            741.0875360017255,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -723.1967028868462,
+            738.4894597903722,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -721.6967028868462,
+            735.8913835790188,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -720.1967028868462,
+            733.2933073676654,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -718.6967028868462,
+            730.695231156312,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -717.1967028868462,
+            728.0971549449587,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -715.6967028868462,
+            725.4990787336053,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -714.1967028868462,
+            722.9010025222519,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -712.6967028868462,
+            720.3029263108986,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -711.1967028868462,
+            717.7048500995452,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -709.6967028868462,
+            715.1067738881918,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -708.1967028868462,
+            712.5086976768384,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -706.6967028868462,
+            709.9106214654851,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -705.1967028868462,
+            707.3125452541317,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -703.6967028868462,
+            704.7144690427783,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -702.1967028868462,
+            702.116392831425,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -700.6967028868462,
+            699.5183166200716,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -699.1967028868462,
+            696.9202404087182,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            -697.6967028868462,
+            694.3221641973648,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            -696.1967028868462,
+            691.7240879860115,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            -694.6967028868462,
+            689.1260117746581,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            -693.1967028868462,
+            686.5279355633047,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            -691.6967028868462,
+            683.9298593519513,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            -690.1967028868462,
+            681.331783140598,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            -688.6967028868462,
+            678.7337069292446,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            -687.1967028868462,
+            676.1356307178912,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            -685.6967028868462,
+            673.5375545065378,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            -684.1967028868462,
+            670.9394782951845,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            -682.6967028868462,
+            668.3414020838311,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            -681.1967028868462,
+            665.7433258724777,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            -679.6967028868462,
+            663.1452496611244,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            -678.1967028868462,
+            660.547173449771,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            -676.6967028868462,
+            657.9490972384176,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            -675.1967028868462,
+            655.3510210270642,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            -673.6967028868462,
+            652.7529448157109,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            -672.1967028868462,
+            650.1548686043575,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            -670.6967028868462,
+            647.5567923930041,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            -669.1967028868462,
+            644.9587161816507,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            -667.6967028868462,
+            642.3606399702974,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            -666.1967028868462,
+            639.762563758944,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            -664.6967028868462,
+            637.1644875475906,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 81,
+        "pos": [
+            -663.1967028868462,
+            634.5664113362373,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 82,
+        "pos": [
+            -661.6967028868462,
+            631.9683351248839,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 83,
+        "pos": [
+            -660.1967028868462,
+            629.3702589135305,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 84,
+        "pos": [
+            -658.6967028868462,
+            626.7721827021771,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 85,
+        "pos": [
+            -657.1967028868462,
+            624.1741064908238,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 86,
+        "pos": [
+            -655.6967028868462,
+            621.5760302794704,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 87,
+        "pos": [
+            -654.1967028868462,
+            618.977954068117,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 88,
+        "pos": [
+            -652.6967028868462,
+            616.3798778567636,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 89,
+        "pos": [
+            -651.1967028868462,
+            613.7818016454103,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 90,
+        "pos": [
+            -649.6967028868462,
+            611.1837254340569,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 91,
+        "pos": [
+            -648.1967028868462,
+            608.5856492227035,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 92,
+        "pos": [
+            -646.6967028868462,
+            605.9875730113502,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 93,
+        "pos": [
+            -645.1967028868462,
+            603.3894967999968,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 94,
+        "pos": [
+            -643.6967028868462,
+            600.7914205886434,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 95,
+        "pos": [
+            -642.1967028868462,
+            598.19334437729,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 96,
+        "pos": [
+            -640.6967028868462,
+            595.5952681659367,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 97,
+        "pos": [
+            -639.1967028868462,
+            592.9971919545833,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 98,
+        "pos": [
+            -637.6967028868462,
+            590.3991157432299,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 99,
+        "pos": [
+            -636.1967028868462,
+            587.8010395318765,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 100,
+        "pos": [
+            -634.6967028868462,
+            585.2029633205232,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 101,
+        "pos": [
+            -633.1967028868462,
+            582.6048871091698,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 102,
+        "pos": [
+            -631.6967028868462,
+            580.0068108978164,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 103,
+        "pos": [
+            -630.1967028868462,
+            577.408734686463,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 104,
+        "pos": [
+            -628.6967028868462,
+            574.8106584751097,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 105,
+        "pos": [
+            -627.1967028868462,
+            572.2125822637563,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 106,
+        "pos": [
+            -625.6967028868462,
+            569.6145060524029,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 107,
+        "pos": [
+            -624.1967028868462,
+            567.0164298410496,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 108,
+        "pos": [
+            -622.6967028868462,
+            564.4183536296962,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 109,
+        "pos": [
+            -621.1967028868462,
+            561.8202774183428,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 110,
+        "pos": [
+            -619.6967028868462,
+            559.2222012069894,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 111,
+        "pos": [
+            -618.1967028868462,
+            556.6241249956361,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 112,
+        "pos": [
+            -616.6967028868462,
+            554.0260487842827,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 113,
+        "pos": [
+            -615.1967028868462,
+            551.4279725729293,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 114,
+        "pos": [
+            -613.6967028868462,
+            548.829896361576,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 115,
+        "pos": [
+            -612.1967028868462,
+            546.2318201502226,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 116,
+        "pos": [
+            -610.6967028868462,
+            543.6337439388692,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 117,
+        "pos": [
+            -609.1967028868462,
+            541.0356677275158,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 118,
+        "pos": [
+            -607.6967028868462,
+            538.4375915161625,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 119,
+        "pos": [
+            -606.1967028868462,
+            535.8395153048091,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 120,
+        "pos": [
+            -604.6967028868462,
+            533.2414390934557,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 121,
+        "pos": [
+            -603.1967028868462,
+            530.6433628821023,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 122,
+        "pos": [
+            -601.6967028868462,
+            528.045286670749,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 123,
+        "pos": [
+            -600.1967028868462,
+            525.4472104593956,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 124,
+        "pos": [
+            -598.6967028868462,
+            522.8491342480422,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 125,
+        "pos": [
+            -597.1967028868462,
+            520.2510580366888,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 126,
+        "pos": [
+            -595.6967028868462,
+            517.6529818253355,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 127,
+        "pos": [
+            -594.1967028868462,
+            515.0549056139821,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 128,
+        "pos": [
+            -592.6967028868462,
+            512.4568294026287,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 129,
+        "pos": [
+            -591.1967028868462,
+            509.8587531912754,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 130,
+        "pos": [
+            -589.6967028868462,
+            507.2606769799221,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 131,
+        "pos": [
+            -588.1967028868462,
+            504.6626007685688,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 132,
+        "pos": [
+            -586.6967028868462,
+            502.06452455721546,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 133,
+        "pos": [
+            -585.1967028868462,
+            499.46644834586215,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 134,
+        "pos": [
+            -583.6967028868462,
+            496.86837213450883,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 135,
+        "pos": [
+            -582.1967028868462,
+            494.2702959231555,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 136,
+        "pos": [
+            -580.6967028868462,
+            491.6722197118022,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 137,
+        "pos": [
+            -579.1967028868462,
+            489.0741435004489,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 138,
+        "pos": [
+            -577.6967028868462,
+            486.47606728909557,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 139,
+        "pos": [
+            -576.1967028868462,
+            483.87799107774225,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 140,
+        "pos": [
+            -574.6967028868462,
+            481.27991486638894,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 141,
+        "pos": [
+            -573.1967028868462,
+            478.6818386550356,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 142,
+        "pos": [
+            -571.6967028868462,
+            476.0837624436823,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 143,
+        "pos": [
+            -570.1967028868462,
+            473.485686232329,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 144,
+        "pos": [
+            -568.6967028868462,
+            470.88761002097567,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 145,
+        "pos": [
+            -567.1967028868462,
+            468.28953380962236,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 146,
+        "pos": [
+            -565.6967028868462,
+            465.69145759826904,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 147,
+        "pos": [
+            -564.1967028868462,
+            463.0933813869157,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 148,
+        "pos": [
+            -562.6967028868462,
+            460.4953051755624,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 149,
+        "pos": [
+            -561.1967028868462,
+            457.8972289642091,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 150,
+        "pos": [
+            -559.6967028868462,
+            455.2991527528558,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 151,
+        "pos": [
+            -558.1967028868462,
+            452.70107654150246,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 152,
+        "pos": [
+            -556.6967028868462,
+            450.10300033014914,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 153,
+        "pos": [
+            -555.1967028868462,
+            447.5049241187958,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 154,
+        "pos": [
+            -553.6967028868462,
+            444.9068479074425,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 155,
+        "pos": [
+            -552.1967028868462,
+            442.3087716960892,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 156,
+        "pos": [
+            -550.6967028868462,
+            439.7106954847359,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 157,
+        "pos": [
+            -549.1967028868462,
+            437.11261927338256,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 158,
+        "pos": [
+            -547.6967028868462,
+            434.51454306202925,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 159,
+        "pos": [
+            -546.1967028868462,
+            431.91646685067593,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 160,
+        "pos": [
+            -544.6967028868462,
+            429.3183906393226,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 161,
+        "pos": [
+            -543.1967028868462,
+            426.7203144279693,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 162,
+        "pos": [
+            -541.6967028868462,
+            424.122238216616,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 163,
+        "pos": [
+            -540.1967028868462,
+            421.52416200526267,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 164,
+        "pos": [
+            -538.6967028868462,
+            418.92608579390935,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 165,
+        "pos": [
+            -537.1967028868462,
+            416.32800958255604,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 166,
+        "pos": [
+            -535.6967028868462,
+            413.7299333712027,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 167,
+        "pos": [
+            -534.1967028868462,
+            411.1318571598494,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 168,
+        "pos": [
+            -532.6967028868462,
+            408.5337809484961,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 169,
+        "pos": [
+            -531.1967028868462,
+            405.93570473714277,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 170,
+        "pos": [
+            -529.6967028868462,
+            403.33762852578946,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 171,
+        "pos": [
+            -528.1967028868462,
+            400.73955231443614,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 172,
+        "pos": [
+            -526.6967028868462,
+            398.1414761030828,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 173,
+        "pos": [
+            -525.1967028868462,
+            395.5433998917295,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 174,
+        "pos": [
+            -523.6967028868462,
+            392.9453236803762,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 175,
+        "pos": [
+            -522.1967028868462,
+            390.3472474690229,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 176,
+        "pos": [
+            -520.6967028868462,
+            387.74917125766956,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 177,
+        "pos": [
+            -519.1967028868462,
+            385.15109504631624,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 178,
+        "pos": [
+            -517.6967028868462,
+            382.5530188349629,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 179,
+        "pos": [
+            -516.1967028868462,
+            379.9549426236096,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 180,
+        "pos": [
+            -514.6967028868462,
+            377.3568664122563,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 181,
+        "pos": [
+            -513.1967028868462,
+            374.758790200903,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 182,
+        "pos": [
+            -511.6967028868462,
+            372.16071398954966,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 183,
+        "pos": [
+            -510.1967028868462,
+            369.56263777819635,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 184,
+        "pos": [
+            -508.6967028868462,
+            366.96456156684303,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 185,
+        "pos": [
+            -507.1967028868462,
+            364.3664853554897,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 186,
+        "pos": [
+            -505.6967028868462,
+            361.7684091441364,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 187,
+        "pos": [
+            -504.1967028868462,
+            359.1703329327831,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 188,
+        "pos": [
+            -502.6967028868462,
+            356.57225672142977,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 189,
+        "pos": [
+            -501.1967028868462,
+            353.97418051007645,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 190,
+        "pos": [
+            -499.6967028868462,
+            351.37610429872313,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 191,
+        "pos": [
+            -498.1967028868462,
+            348.7780280873698,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 192,
+        "pos": [
+            -496.6967028868462,
+            346.1799518760165,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 193,
+        "pos": [
+            -495.1967028868462,
+            343.5818756646632,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 194,
+        "pos": [
+            -493.6967028868462,
+            340.98379945330987,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 195,
+        "pos": [
+            -492.1967028868462,
+            338.38572324195655,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 196,
+        "pos": [
+            -490.6967028868462,
+            335.78764703060324,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 197,
+        "pos": [
+            -489.1967028868462,
+            333.1895708192499,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 198,
+        "pos": [
+            -487.6967028868462,
+            330.5914946078966,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 199,
+        "pos": [
+            -486.1967028868462,
+            327.9934183965433,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 200,
+        "pos": [
+            -484.6967028868462,
+            325.39534218519,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 201,
+        "pos": [
+            -483.1967028868462,
+            322.79726597383666,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 202,
+        "pos": [
+            -481.6967028868462,
+            320.19918976248334,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 203,
+        "pos": [
+            -480.1967028868462,
+            317.60111355113,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 204,
+        "pos": [
+            -478.6967028868462,
+            315.0030373397767,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 205,
+        "pos": [
+            -477.1967028868462,
+            312.4049611284234,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 206,
+        "pos": [
+            -475.6967028868462,
+            309.8068849170701,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 207,
+        "pos": [
+            -474.1967028868462,
+            307.20880870571676,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 208,
+        "pos": [
+            -472.6967028868462,
+            304.61073249436345,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 209,
+        "pos": [
+            -471.1967028868462,
+            302.01265628301013,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 210,
+        "pos": [
+            -469.6967028868462,
+            299.4145800716568,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 211,
+        "pos": [
+            -468.1967028868462,
+            296.8165038603035,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 212,
+        "pos": [
+            -466.6967028868462,
+            294.2184276489502,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 213,
+        "pos": [
+            -465.1967028868462,
+            291.62035143759687,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 214,
+        "pos": [
+            -463.6967028868462,
+            289.02227522624355,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 215,
+        "pos": [
+            -462.1967028868462,
+            286.42419901489023,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 216,
+        "pos": [
+            -460.6967028868462,
+            283.8261228035369,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 217,
+        "pos": [
+            -459.1967028868462,
+            281.2280465921836,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 218,
+        "pos": [
+            -457.6967028868462,
+            278.6299703808303,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 219,
+        "pos": [
+            -456.1967028868462,
+            276.03189416947697,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 220,
+        "pos": [
+            -454.6967028868462,
+            273.43381795812365,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 221,
+        "pos": [
+            -453.1967028868462,
+            270.83574174677034,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 222,
+        "pos": [
+            -451.6967028868462,
+            268.237665535417,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 223,
+        "pos": [
+            -450.1967028868462,
+            265.6395893240637,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 224,
+        "pos": [
+            -448.6967028868462,
+            263.0415131127104,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 225,
+        "pos": [
+            -447.1967028868462,
+            260.4434369013571,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 226,
+        "pos": [
+            -445.6967028868462,
+            257.84536069000376,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 227,
+        "pos": [
+            -444.1967028868462,
+            255.24728447865044,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 228,
+        "pos": [
+            -442.6967028868462,
+            252.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 229,
+        "pos": [
+            -442.6967028868462,
+            252.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 230,
+        "pos": [
+            -440.0986266754929,
+            251.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 231,
+        "pos": [
+            -437.50055046413956,
+            249.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 232,
+        "pos": [
+            -434.90247425278625,
+            248.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 233,
+        "pos": [
+            -432.30439804143293,
+            246.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 234,
+        "pos": [
+            -429.7063218300796,
+            245.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 235,
+        "pos": [
+            -427.1082456187263,
+            243.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 236,
+        "pos": [
+            -424.510169407373,
+            242.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 237,
+        "pos": [
+            -421.91209319601967,
+            240.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 238,
+        "pos": [
+            -419.31401698466635,
+            239.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 239,
+        "pos": [
+            -416.71594077331304,
+            237.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 240,
+        "pos": [
+            -414.1178645619597,
+            236.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 241,
+        "pos": [
+            -411.5197883506064,
+            234.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 242,
+        "pos": [
+            -408.9217121392531,
+            233.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 243,
+        "pos": [
+            -406.3236359278998,
+            231.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 244,
+        "pos": [
+            -403.72555971654646,
+            230.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 245,
+        "pos": [
+            -401.12748350519314,
+            228.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 246,
+        "pos": [
+            -398.5294072938398,
+            227.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 247,
+        "pos": [
+            -395.9313310824865,
+            225.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 248,
+        "pos": [
+            -393.3332548711332,
+            224.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 249,
+        "pos": [
+            -390.7351786597799,
+            222.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 250,
+        "pos": [
+            -388.13710244842656,
+            221.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 251,
+        "pos": [
+            -385.53902623707324,
+            219.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 252,
+        "pos": [
+            -382.9409500257199,
+            218.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 253,
+        "pos": [
+            -380.3428738143666,
+            216.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 254,
+        "pos": [
+            -377.7447976030133,
+            215.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 255,
+        "pos": [
+            -375.14672139166,
+            213.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 256,
+        "pos": [
+            -372.54864518030666,
+            212.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 257,
+        "pos": [
+            -369.95056896895335,
+            210.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 258,
+        "pos": [
+            -367.35249275760003,
+            209.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 259,
+        "pos": [
+            -364.7544165462467,
+            207.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 260,
+        "pos": [
+            -362.1563403348934,
+            206.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 261,
+        "pos": [
+            -359.5582641235401,
+            204.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 262,
+        "pos": [
+            -356.96018791218677,
+            203.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 263,
+        "pos": [
+            -354.36211170083345,
+            201.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 264,
+        "pos": [
+            -351.76403548948014,
+            200.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 265,
+        "pos": [
+            -349.1659592781268,
+            198.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 266,
+        "pos": [
+            -346.5678830667735,
+            197.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 267,
+        "pos": [
+            -343.9698068554202,
+            195.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 268,
+        "pos": [
+            -341.3717306440669,
+            194.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 269,
+        "pos": [
+            -338.77365443271356,
+            192.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 270,
+        "pos": [
+            -336.17557822136024,
+            191.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 271,
+        "pos": [
+            -333.5775020100069,
+            189.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 272,
+        "pos": [
+            -330.9794257986536,
+            188.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 273,
+        "pos": [
+            -328.3813495873003,
+            186.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 274,
+        "pos": [
+            -325.783273375947,
+            185.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 275,
+        "pos": [
+            -323.18519716459366,
+            183.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 276,
+        "pos": [
+            -320.58712095324034,
+            182.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 277,
+        "pos": [
+            -317.989044741887,
+            180.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 278,
+        "pos": [
+            -315.3909685305337,
+            179.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 279,
+        "pos": [
+            -312.7928923191804,
+            177.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 280,
+        "pos": [
+            -310.1948161078271,
+            176.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 281,
+        "pos": [
+            -307.59673989647376,
+            174.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 282,
+        "pos": [
+            -304.99866368512045,
+            173.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 283,
+        "pos": [
+            -302.40058747376713,
+            171.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 284,
+        "pos": [
+            -299.8025112624138,
+            170.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 285,
+        "pos": [
+            -297.2044350510605,
+            168.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 286,
+        "pos": [
+            -294.6063588397072,
+            167.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 287,
+        "pos": [
+            -292.00828262835387,
+            165.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 288,
+        "pos": [
+            -289.41020641700055,
+            164.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 289,
+        "pos": [
+            -286.81213020564724,
+            162.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 290,
+        "pos": [
+            -284.2140539942939,
+            161.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 291,
+        "pos": [
+            -281.6159777829406,
+            159.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 292,
+        "pos": [
+            -279.0179015715873,
+            158.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 293,
+        "pos": [
+            -276.419825360234,
+            156.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 294,
+        "pos": [
+            -273.82174914888066,
+            155.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 295,
+        "pos": [
+            -271.22367293752734,
+            153.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 296,
+        "pos": [
+            -268.625596726174,
+            152.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 297,
+        "pos": [
+            -266.0275205148207,
+            150.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 298,
+        "pos": [
+            -263.4294443034674,
+            149.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 299,
+        "pos": [
+            -260.8313680921141,
+            147.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 300,
+        "pos": [
+            -258.23329188076076,
+            146.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 301,
+        "pos": [
+            -255.63521566940744,
+            144.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 302,
+        "pos": [
+            -253.03713945805413,
+            143.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 303,
+        "pos": [
+            -250.4390632467008,
+            141.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 304,
+        "pos": [
+            -247.8409870353475,
+            140.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 305,
+        "pos": [
+            -245.24291082399418,
+            138.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 306,
+        "pos": [
+            -242.64483461264086,
+            137.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 307,
+        "pos": [
+            -240.04675840128755,
+            135.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 308,
+        "pos": [
+            -237.44868218993423,
+            134.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 309,
+        "pos": [
+            -234.85060597858092,
+            132.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 310,
+        "pos": [
+            -232.2525297672276,
+            131.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 311,
+        "pos": [
+            -229.65445355587428,
+            129.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 312,
+        "pos": [
+            -227.05637734452097,
+            128.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 313,
+        "pos": [
+            -224.45830113316765,
+            126.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 314,
+        "pos": [
+            -221.86022492181434,
+            125.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 315,
+        "pos": [
+            -219.26214871046102,
+            123.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 316,
+        "pos": [
+            -216.6640724991077,
+            122.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 317,
+        "pos": [
+            -214.0659962877544,
+            120.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 318,
+        "pos": [
+            -211.46792007640107,
+            119.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 319,
+        "pos": [
+            -208.86984386504776,
+            117.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 320,
+        "pos": [
+            -206.27176765369444,
+            116.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 321,
+        "pos": [
+            -203.67369144234112,
+            114.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 322,
+        "pos": [
+            -201.0756152309878,
+            113.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 323,
+        "pos": [
+            -198.4775390196345,
+            111.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 324,
+        "pos": [
+            -195.87946280828118,
+            110.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 325,
+        "pos": [
+            -193.28138659692786,
+            108.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 326,
+        "pos": [
+            -190.68331038557454,
+            107.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 327,
+        "pos": [
+            -188.08523417422123,
+            105.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 328,
+        "pos": [
+            -185.4871579628679,
+            104.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 329,
+        "pos": [
+            -182.8890817515146,
+            102.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 330,
+        "pos": [
+            -180.29100554016128,
+            101.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 331,
+        "pos": [
+            -177.69292932880796,
+            99.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 332,
+        "pos": [
+            -175.09485311745465,
+            98.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 333,
+        "pos": [
+            -172.49677690610133,
+            96.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 334,
+        "pos": [
+            -169.89870069474802,
+            95.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 335,
+        "pos": [
+            -167.3006244833947,
+            93.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 336,
+        "pos": [
+            -164.70254827204138,
+            92.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 337,
+        "pos": [
+            -162.10447206068807,
+            90.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 338,
+        "pos": [
+            -159.50639584933475,
+            89.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 339,
+        "pos": [
+            -156.90831963798144,
+            87.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 340,
+        "pos": [
+            -154.31024342662812,
+            86.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 341,
+        "pos": [
+            -151.7121672152748,
+            84.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 342,
+        "pos": [
+            -149.1140910039215,
+            83.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 343,
+        "pos": [
+            -146.51601479256817,
+            81.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 344,
+        "pos": [
+            -143.91793858121486,
+            80.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 345,
+        "pos": [
+            -141.31986236986154,
+            78.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 346,
+        "pos": [
+            -138.72178615850822,
+            77.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 347,
+        "pos": [
+            -136.1237099471549,
+            75.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 348,
+        "pos": [
+            -133.5256337358016,
+            74.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 349,
+        "pos": [
+            -130.92755752444828,
+            72.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 350,
+        "pos": [
+            -128.32948131309496,
+            71.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 351,
+        "pos": [
+            -125.73140510174164,
+            69.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 352,
+        "pos": [
+            -123.13332889038833,
+            68.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 353,
+        "pos": [
+            -120.53525267903501,
+            66.64920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 354,
+        "pos": [
+            -117.9371764676817,
+            65.14920826729713,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 355,
+        "pos": [
+            -115.33910025632838,
+            63.649208267297126,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 356,
+        "pos": [
+            -112.74102404497506,
+            62.149208267297126,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 357,
+        "pos": [
+            -110.14294783362175,
+            60.649208267297126,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 358,
+        "pos": [
+            -107.54487162226843,
+            59.149208267297126,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 359,
+        "pos": [
+            -104.94679541091512,
+            57.649208267297126,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 360,
+        "pos": [
+            -102.3487191995618,
+            56.149208267297126,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 361,
+        "pos": [
+            -99.75064298820848,
+            54.649208267297126,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 362,
+        "pos": [
+            -97.15256677685517,
+            53.149208267297126,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 363,
+        "pos": [
+            -94.55449056550185,
+            51.649208267297126,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 364,
+        "pos": [
+            -91.95641435414854,
+            50.149208267297126,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 365,
+        "pos": [
+            -89.35833814279522,
+            48.649208267297126,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 366,
+        "pos": [
+            -86.7602619314419,
+            47.149208267297126,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 367,
+        "pos": [
+            -84.16218572008859,
+            45.649208267297126,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 368,
+        "pos": [
+            -81.56410950873527,
+            44.149208267297126,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 369,
+        "pos": [
+            -78.96603329738195,
+            42.649208267297126,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 370,
+        "pos": [
+            -76.36795708602864,
+            41.149208267297126,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 371,
+        "pos": [
+            -73.76988087467532,
+            39.649208267297126,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 372,
+        "pos": [
+            -71.171804663322,
+            38.149208267297126,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 373,
+        "pos": [
+            -68.57372845196869,
+            36.649208267297126,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 374,
+        "pos": [
+            -65.97565224061537,
+            35.149208267297126,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 375,
+        "pos": [
+            -63.37757602926206,
+            33.649208267297126,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 376,
+        "pos": [
+            -60.77949981790874,
+            32.149208267297126,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 377,
+        "pos": [
+            -58.18142360655543,
+            30.649208267297126,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 378,
+        "pos": [
+            -55.58334739520211,
+            29.149208267297126,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 379,
+        "pos": [
+            -52.985271183848795,
+            27.649208267297126,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 380,
+        "pos": [
+            -50.38719497249548,
+            26.149208267297126,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 381,
+        "pos": [
+            -47.78911876114216,
+            24.649208267297126,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 382,
+        "pos": [
+            -45.19104254978885,
+            23.149208267297126,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 383,
+        "pos": [
+            -42.59296633843553,
+            21.649208267297126,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 384,
+        "pos": [
+            -39.994890127082215,
+            20.149208267297126,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 385,
+        "pos": [
+            -37.3968139157289,
+            18.649208267297126,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 386,
+        "pos": [
+            -34.79873770437558,
+            17.149208267297126,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 387,
+        "pos": [
+            -32.20066149302227,
+            15.649208267297126,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 388,
+        "pos": [
+            -29.60258528166895,
+            14.149208267297126,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 389,
+        "pos": [
+            -27.004509070315635,
+            12.649208267297126,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 390,
+        "pos": [
+            -24.40643285896232,
+            11.149208267297126,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 391,
+        "pos": [
+            -21.808356647609003,
+            9.649208267297126,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 392,
+        "pos": [
+            -19.210280436255687,
+            8.149208267297126,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 393,
+        "pos": [
+            -16.61220422490237,
+            6.649208267297126,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 394,
+        "pos": [
+            -14.014128013549055,
+            5.149208267297126,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 395,
+        "pos": [
+            -11.416051802195739,
+            3.6492082672971264,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 396,
+        "pos": [
+            -8.817975590842423,
+            2.1492082672971264,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 397,
+        "pos": [
+            -6.219899379489107,
+            0.6492082672971267,
+            -12.922124485032064
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 398,
+        "pos": [
+            -6.219899379489107,
+            0.6492082672971267,
+            -12.922124485032064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 399,
+        "pos": [
+            -3.2198993794891066,
+            0.6492082672971267,
+            -12.922124485032064
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "",
+        "feature": "",
+        "position": [
+            0.0,
+            0.0,
+            0.0
+        ],
+        "shape": "",
+        "size": "",
+        "type": ""
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/long/2025-1-8_6-25-10_2009726312/pose.jsonl b/Image/env_gs_sjtu02/astar_data/long/2025-1-8_6-25-10_2009726312/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..661c0c919b959d28676bb15784acd3750854f592
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/long/2025-1-8_6-25-10_2009726312/pose.jsonl
@@ -0,0 +1,665 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -744.9524417714806,
+            488.64621381155024,
+            -13.827919729121003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -742.3543655601272,
+            487.14621381155024,
+            -13.827919729121003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -739.7562893487739,
+            485.64621381155024,
+            -13.827919729121003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -737.1582131374205,
+            484.14621381155024,
+            -13.827919729121003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -734.5601369260671,
+            482.64621381155024,
+            -13.827919729121003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -731.9620607147137,
+            481.14621381155024,
+            -13.827919729121003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -729.3639845033604,
+            479.64621381155024,
+            -13.827919729121003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -726.765908292007,
+            478.14621381155024,
+            -13.827919729121003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -724.1678320806536,
+            476.64621381155024,
+            -13.827919729121003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -721.5697558693003,
+            475.14621381155024,
+            -13.827919729121003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -718.9716796579469,
+            473.64621381155024,
+            -13.827919729121003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -716.3736034465935,
+            472.14621381155024,
+            -13.827919729121003
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -716.3736034465935,
+            472.14621381155024,
+            -13.827919729121003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -714.8736034465935,
+            469.5481376001969,
+            -13.827919729121003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -713.3736034465935,
+            466.9500613888436,
+            -13.827919729121003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -711.8736034465935,
+            464.3519851774903,
+            -13.827919729121003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -710.3736034465935,
+            461.753908966137,
+            -13.827919729121003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -708.8736034465935,
+            459.15583275478366,
+            -13.827919729121003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -705.5029983520508,
+            454.1358337402344,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -707.3736034465935,
+            456.55775654343034,
+            -13.827919729121003
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -707.3736034465935,
+            456.55775654343034,
+            -13.827919729121003
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -707.3736034465935,
+            456.55775654343034,
+            -13.827919729121003
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.220446049250313e-16
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -707.3736034465935,
+            456.55775654343034,
+            -13.827919729121003
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982987
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -707.3736034465935,
+            456.55775654343034,
+            -13.827919729121003
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965974
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -707.3736034465935,
+            456.55775654343034,
+            -13.827919729121003
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948961
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -707.3736034465935,
+            456.55775654343034,
+            -13.827919729121003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -707.3736034465935,
+            459.55775654343034,
+            -13.827919729121003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -707.3736034465935,
+            462.55775654343034,
+            -13.827919729121003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -707.3736034465935,
+            465.55775654343034,
+            -13.827919729121003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -707.3736034465935,
+            468.55775654343034,
+            -13.827919729121003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -707.3736034465935,
+            471.55775654343034,
+            -13.827919729121003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -707.3736034465935,
+            474.55775654343034,
+            -13.827919729121003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -707.3736034465935,
+            477.55775654343034,
+            -13.827919729121003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -707.3736034465935,
+            480.55775654343034,
+            -13.827919729121003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -707.3736034465935,
+            483.55775654343034,
+            -13.827919729121003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -707.3736034465935,
+            486.55775654343034,
+            -13.827919729121003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -707.3736034465935,
+            489.55775654343034,
+            -13.827919729121003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -707.3736034465935,
+            492.55775654343034,
+            -13.827919729121003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -707.3736034465935,
+            495.55775654343034,
+            -13.827919729121003
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -707.3736034465935,
+            495.55775654343034,
+            -13.827919729121003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -708.8736034465935,
+            498.15583275478366,
+            -13.827919729121003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -710.3736034465935,
+            500.753908966137,
+            -13.827919729121003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -711.8736034465935,
+            503.3519851774903,
+            -13.827919729121003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -713.3736034465935,
+            505.9500613888436,
+            -13.827919729121003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -714.8736034465935,
+            508.5481376001969,
+            -13.827919729121003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -716.3736034465935,
+            511.14621381155024,
+            -13.827919729121003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -717.8736034465935,
+            513.7442900229036,
+            -13.827919729121003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -719.3736034465935,
+            516.3423662342568,
+            -13.827919729121003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -720.8736034465935,
+            518.9404424456102,
+            -13.827919729121003
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -722.3736034465935,
+            521.5385186569636,
+            -13.827919729121003
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -720.8203277587891,
+            524.2329063415527,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/long/2025-1-8_6-38-34_70788355/pose.jsonl b/Image/env_gs_sjtu02/astar_data/long/2025-1-8_6-38-34_70788355/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1d8e8053af293c451c706589b29ae66c49a32bcd
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/long/2025-1-8_6-38-34_70788355/pose.jsonl
@@ -0,0 +1,691 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -8.901625571751726,
+            214.48682145420065,
+            -10.279810378197276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -7.401625571751726,
+            217.08489766555397,
+            -10.279810378197276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -5.901625571751726,
+            219.68297387690728,
+            -10.279810378197276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -4.401625571751726,
+            222.2810500882606,
+            -10.279810378197276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -2.9016255717517256,
+            224.87912629961392,
+            -10.279810378197276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1.4016255717517252,
+            227.47720251096723,
+            -10.279810378197276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            0.09837442824827525,
+            230.07527872232055,
+            -10.279810378197276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1.5983744282482757,
+            232.67335493367386,
+            -10.279810378197276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            3.098374428248276,
+            235.27143114502718,
+            -10.279810378197276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            4.598374428248277,
+            237.8695073563805,
+            -10.279810378197276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            6.0983744282482775,
+            240.4675835677338,
+            -10.279810378197276
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965974
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            6.0983744282482775,
+            240.4675835677338,
+            -10.279810378197276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948961
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            6.0983744282482775,
+            243.4675835677338,
+            -10.279810378197276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            6.0983744282482775,
+            246.4675835677338,
+            -10.279810378197276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            6.0983744282482775,
+            249.4675835677338,
+            -10.279810378197276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            6.0983744282482775,
+            252.4675835677338,
+            -10.279810378197276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            6.0983744282482775,
+            255.4675835677338,
+            -10.279810378197276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            6.0983744282482775,
+            258.4675835677338,
+            -10.279810378197276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            6.0983744282482775,
+            261.4675835677338,
+            -10.279810378197276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            6.0983744282482775,
+            264.4675835677338,
+            -10.279810378197276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            6.0983744282482775,
+            267.4675835677338,
+            -10.279810378197276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            6.0983744282482775,
+            270.4675835677338,
+            -10.279810378197276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            7.667010009288788,
+            276.1487979888916,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            6.0983744282482775,
+            273.4675835677338,
+            -10.279810378197276
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            6.0983744282482775,
+            273.4675835677338,
+            -10.279810378197276
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            6.0983744282482775,
+            273.4675835677338,
+            -10.279810378197276
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982989
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            6.0983744282482775,
+            273.4675835677338,
+            -10.279810378197276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            8.696450639601593,
+            274.9675835677338,
+            -10.279810378197276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            11.29452685095491,
+            276.4675835677338,
+            -10.279810378197276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            13.892603062308226,
+            277.9675835677338,
+            -10.279810378197276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            16.49067927366154,
+            279.4675835677338,
+            -10.279810378197276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            19.088755485014858,
+            280.9675835677338,
+            -10.279810378197276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            21.686831696368174,
+            282.4675835677338,
+            -10.279810378197276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            24.28490790772149,
+            283.9675835677338,
+            -10.279810378197276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            26.882984119074806,
+            285.4675835677338,
+            -10.279810378197276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            29.48106033042812,
+            286.9675835677338,
+            -10.279810378197276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            32.07913654178144,
+            288.4675835677338,
+            -10.279810378197276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            34.677212753134754,
+            289.9675835677338,
+            -10.279810378197276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            37.27528896448807,
+            291.4675835677338,
+            -10.279810378197276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            39.873365175841386,
+            292.9675835677338,
+            -10.279810378197276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            42.4714413871947,
+            294.4675835677338,
+            -10.279810378197276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            45.06951759854802,
+            295.9675835677338,
+            -10.279810378197276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            47.667593809901334,
+            297.4675835677338,
+            -10.279810378197276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            50.26567002125465,
+            298.9675835677338,
+            -10.279810378197276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            52.863746232607966,
+            300.4675835677338,
+            -10.279810378197276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            55.46182244396128,
+            301.9675835677338,
+            -10.279810378197276
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            55.46182244396128,
+            301.9675835677338,
+            -10.279810378197276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            56.96182244396128,
+            304.5656597790871,
+            -10.279810378197276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            58.46182244396128,
+            307.16373599044044,
+            -10.279810378197276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            59.96182244396128,
+            309.76181220179376,
+            -10.279810378197276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            61.46182244396128,
+            312.3598884131471,
+            -10.279810378197276
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            62.96182244396128,
+            314.9579646245004,
+            -10.279810378197276
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            64.20489478111267,
+            315.8366947174072,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/long/2025-1-8_7-4-14_1152645729/pose.jsonl b/Image/env_gs_sjtu02/astar_data/long/2025-1-8_7-4-14_1152645729/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6c0ede2af836c649d6159a200e3e27bfdac40d0e
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/long/2025-1-8_7-4-14_1152645729/pose.jsonl
@@ -0,0 +1,665 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -777.5791663416828,
+            655.4174051878766,
+            -10.8711631976844
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -776.0791663416828,
+            652.8193289765234,
+            -10.8711631976844
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -774.5791663416828,
+            650.22125276517,
+            -10.8711631976844
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -773.0791663416828,
+            647.6231765538166,
+            -10.8711631976844
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -771.5791663416828,
+            645.0251003424632,
+            -10.8711631976844
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -770.0791663416828,
+            642.4270241311099,
+            -10.8711631976844
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -768.5791663416828,
+            639.8289479197565,
+            -10.8711631976844
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -767.0791663416828,
+            637.2308717084031,
+            -10.8711631976844
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -765.5791663416828,
+            634.6327954970498,
+            -10.8711631976844
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -764.0791663416828,
+            632.0347192856964,
+            -10.8711631976844
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -762.5791663416828,
+            629.436643074343,
+            -10.8711631976844
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -761.0791663416828,
+            626.8385668629896,
+            -10.8711631976844
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -759.5791663416828,
+            624.2404906516363,
+            -10.8711631976844
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -758.0791663416828,
+            621.6424144402829,
+            -10.8711631976844
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -756.5791663416828,
+            619.0443382289295,
+            -10.8711631976844
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -755.0791663416828,
+            616.4462620175761,
+            -10.8711631976844
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -755.0791663416828,
+            616.4462620175761,
+            -10.8711631976844
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -752.4810901303294,
+            614.9462620175761,
+            -10.8711631976844
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -749.8830139189761,
+            613.4462620175761,
+            -10.8711631976844
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -746.0297698974609,
+            610.7758102416992,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -747.2849377076227,
+            611.9462620175761,
+            -10.8711631976844
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -747.2849377076227,
+            611.9462620175761,
+            -10.8711631976844
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -744.2849377076227,
+            611.9462620175761,
+            -10.8711631976844
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -741.2849377076227,
+            611.9462620175761,
+            -10.8711631976844
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -738.2849377076227,
+            611.9462620175761,
+            -10.8711631976844
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -735.2849377076227,
+            611.9462620175761,
+            -10.8711631976844
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -732.2849377076227,
+            611.9462620175761,
+            -10.8711631976844
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -729.2849377076227,
+            611.9462620175761,
+            -10.8711631976844
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -726.2849377076227,
+            611.9462620175761,
+            -10.8711631976844
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -723.2849377076227,
+            611.9462620175761,
+            -10.8711631976844
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -720.2849377076227,
+            611.9462620175761,
+            -10.8711631976844
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -717.2849377076227,
+            611.9462620175761,
+            -10.8711631976844
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -714.2849377076227,
+            611.9462620175761,
+            -10.8711631976844
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -714.2849377076227,
+            611.9462620175761,
+            -10.8711631976844
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -714.2849377076227,
+            611.9462620175761,
+            -10.8711631976844
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -712.7849377076227,
+            614.5443382289295,
+            -10.8711631976844
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -711.2849377076227,
+            617.1424144402829,
+            -10.8711631976844
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -711.2849377076227,
+            617.1424144402829,
+            -10.8711631976844
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -708.6868614962693,
+            618.6424144402829,
+            -10.8711631976844
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -706.088785284916,
+            620.1424144402829,
+            -10.8711631976844
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -703.4907090735626,
+            621.6424144402829,
+            -10.8711631976844
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -700.8926328622092,
+            623.1424144402829,
+            -10.8711631976844
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -698.2945566508558,
+            624.6424144402829,
+            -10.8711631976844
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -695.6964804395025,
+            626.1424144402829,
+            -10.8711631976844
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -693.0984042281491,
+            627.6424144402829,
+            -10.8711631976844
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -690.5003280167957,
+            629.1424144402829,
+            -10.8711631976844
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -687.9022518054423,
+            630.6424144402829,
+            -10.8711631976844
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -685.304175594089,
+            632.1424144402829,
+            -10.8711631976844
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -682.7060993827356,
+            633.6424144402829,
+            -10.8711631976844
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -680.1080231713822,
+            635.1424144402829,
+            -10.8711631976844
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -679.9516716003418,
+            637.0020637512207,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/long/2025-1-8_7-54-0_845563291/pose.jsonl b/Image/env_gs_sjtu02/astar_data/long/2025-1-8_7-54-0_845563291/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..934246a2d791d65c24f13db0daf85f5633b96fd3
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/long/2025-1-8_7-54-0_845563291/pose.jsonl
@@ -0,0 +1,600 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -516.7059372092508,
+            608.4040420487304,
+            -11.77841647265425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -513.7059372092508,
+            608.4040420487304,
+            -11.77841647265425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -510.7059372092508,
+            608.4040420487304,
+            -11.77841647265425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -507.7059372092508,
+            608.4040420487304,
+            -11.77841647265425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -504.7059372092508,
+            608.4040420487304,
+            -11.77841647265425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -501.7059372092508,
+            608.4040420487304,
+            -11.77841647265425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -498.7059372092508,
+            608.4040420487304,
+            -11.77841647265425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -495.7059372092508,
+            608.4040420487304,
+            -11.77841647265425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -492.7059372092508,
+            608.4040420487304,
+            -11.77841647265425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -489.7059372092508,
+            608.4040420487304,
+            -11.77841647265425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -486.7059372092508,
+            608.4040420487304,
+            -11.77841647265425
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -486.7059372092508,
+            608.4040420487304,
+            -11.77841647265425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -484.1078609978975,
+            606.9040420487304,
+            -11.77841647265425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -481.5097847865442,
+            605.4040420487304,
+            -11.77841647265425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -478.91170857519086,
+            603.9040420487304,
+            -11.77841647265425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -476.31363236383754,
+            602.4040420487304,
+            -11.77841647265425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -473.7155561524842,
+            600.9040420487304,
+            -11.77841647265425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -471.1174799411309,
+            599.4040420487304,
+            -11.77841647265425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -468.5194037297776,
+            597.9040420487304,
+            -11.77841647265425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -465.9213275184243,
+            596.4040420487304,
+            -11.77841647265425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -463.32325130707096,
+            594.9040420487304,
+            -11.77841647265425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -459.1201229095459,
+            590.1524925231934,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -460.72517509571765,
+            593.4040420487304,
+            -11.77841647265425
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -460.72517509571765,
+            593.4040420487304,
+            -11.77841647265425
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -460.72517509571765,
+            593.4040420487304,
+            -11.77841647265425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -457.72517509571765,
+            593.4040420487304,
+            -11.77841647265425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -454.72517509571765,
+            593.4040420487304,
+            -11.77841647265425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -451.72517509571765,
+            593.4040420487304,
+            -11.77841647265425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -448.72517509571765,
+            593.4040420487304,
+            -11.77841647265425
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -448.72517509571765,
+            593.4040420487304,
+            -11.77841647265425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -446.12709888436433,
+            594.9040420487304,
+            -11.77841647265425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -443.529022673011,
+            596.4040420487304,
+            -11.77841647265425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -440.9309464616577,
+            597.9040420487304,
+            -11.77841647265425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -438.3328702503044,
+            599.4040420487304,
+            -11.77841647265425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -435.73479403895107,
+            600.9040420487304,
+            -11.77841647265425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -433.13671782759775,
+            602.4040420487304,
+            -11.77841647265425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -430.53864161624443,
+            603.9040420487304,
+            -11.77841647265425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -427.9405654048911,
+            605.4040420487304,
+            -11.77841647265425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -425.3424891935378,
+            606.9040420487304,
+            -11.77841647265425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -422.7444129821845,
+            608.4040420487304,
+            -11.77841647265425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -420.14633677083117,
+            609.9040420487304,
+            -11.77841647265425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -417.54826055947785,
+            611.4040420487304,
+            -11.77841647265425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -414.95018434812454,
+            612.9040420487304,
+            -11.77841647265425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -412.3521081367712,
+            614.4040420487304,
+            -11.77841647265425
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -409.7540319254179,
+            615.9040420487304,
+            -11.77841647265425
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -406.8520393371582,
+            616.3035850524902,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/long/2025-1-8_8-7-13_733327814/pose.jsonl b/Image/env_gs_sjtu02/astar_data/long/2025-1-8_8-7-13_733327814/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..25257739a2f68a3d3e80457ff8b193f098760c6f
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/long/2025-1-8_8-7-13_733327814/pose.jsonl
@@ -0,0 +1,639 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -280.26214101333363,
+            587.500061113132,
+            -3.6082606423227297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -277.26214101333363,
+            587.500061113132,
+            -3.6082606423227297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -274.26214101333363,
+            587.500061113132,
+            -3.6082606423227297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -271.26214101333363,
+            587.500061113132,
+            -3.6082606423227297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -268.26214101333363,
+            587.500061113132,
+            -3.6082606423227297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -265.26214101333363,
+            587.500061113132,
+            -3.6082606423227297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -262.26214101333363,
+            587.500061113132,
+            -3.6082606423227297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -259.26214101333363,
+            587.500061113132,
+            -3.6082606423227297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -256.26214101333363,
+            587.500061113132,
+            -3.6082606423227297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -253.26214101333363,
+            587.500061113132,
+            -3.6082606423227297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -250.26214101333363,
+            587.500061113132,
+            -3.6082606423227297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -247.26214101333363,
+            587.500061113132,
+            -3.6082606423227297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -244.26214101333363,
+            587.500061113132,
+            -3.6082606423227297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -241.26214101333363,
+            587.500061113132,
+            -3.6082606423227297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -238.26214101333363,
+            587.500061113132,
+            -3.6082606423227297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -235.26214101333363,
+            587.500061113132,
+            -3.6082606423227297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -232.26214101333363,
+            587.500061113132,
+            -3.6082606423227297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -229.26214101333363,
+            587.500061113132,
+            -3.6082606423227297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -226.26214101333363,
+            587.500061113132,
+            -3.6082606423227297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -223.26214101333363,
+            587.500061113132,
+            -3.6082606423227297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -220.26214101333363,
+            587.500061113132,
+            -3.6082606423227297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -217.26214101333363,
+            587.500061113132,
+            -3.6082606423227297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -214.26214101333363,
+            587.500061113132,
+            -3.6082606423227297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -211.26214101333363,
+            587.500061113132,
+            -3.6082606423227297
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -211.26214101333363,
+            587.500061113132,
+            -3.6082606423227297
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -211.26214101333363,
+            587.500061113132,
+            -3.6082606423227297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -209.76214101333363,
+            584.9019849017786,
+            -3.6082606423227297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -206.81848335266113,
+            579.483003616333,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -208.26214101333363,
+            582.3039086904253,
+            -3.6082606423227297
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -208.26214101333363,
+            582.3039086904253,
+            -3.6082606423227297
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -208.26214101333363,
+            582.3039086904253,
+            -3.6082606423227297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -209.76214101333363,
+            579.7058324790719,
+            -3.6082606423227297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -211.26214101333363,
+            577.1077562677185,
+            -3.6082606423227297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -212.76214101333363,
+            574.5096800563651,
+            -3.6082606423227297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -214.26214101333363,
+            571.9116038450118,
+            -3.6082606423227297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -215.76214101333363,
+            569.3135276336584,
+            -3.6082606423227297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -217.26214101333363,
+            566.715451422305,
+            -3.6082606423227297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -218.76214101333363,
+            564.1173752109516,
+            -3.6082606423227297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -220.26214101333363,
+            561.5192989995983,
+            -3.6082606423227297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -221.76214101333363,
+            558.9212227882449,
+            -3.6082606423227297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -223.26214101333363,
+            556.3231465768915,
+            -3.6082606423227297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -224.76214101333363,
+            553.7250703655382,
+            -3.6082606423227297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -226.26214101333363,
+            551.1269941541848,
+            -3.6082606423227297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -227.76214101333363,
+            548.5289179428314,
+            -3.6082606423227297
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -227.76214101333363,
+            548.5289179428314,
+            -3.6082606423227297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -227.76214101333363,
+            545.5289179428314,
+            -3.6082606423227297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -227.76214101333363,
+            542.5289179428314,
+            -3.6082606423227297
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -227.76214101333363,
+            539.5289179428314,
+            -3.6082606423227297
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -228.39022827148438,
+            535.6035957336426,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/long/2025-1-8_9-10-24_217927335/pose.jsonl b/Image/env_gs_sjtu02/astar_data/long/2025-1-8_9-10-24_217927335/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..40dc5d509119dd1e4c4349555a45ad3651237a44
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/long/2025-1-8_9-10-24_217927335/pose.jsonl
@@ -0,0 +1,743 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -555.0847638962505,
+            412.92413578764763,
+            -2.295031876997477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -556.5847638962505,
+            415.52221199900094,
+            -2.295031876997477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -558.0847638962505,
+            418.12028821035426,
+            -2.295031876997477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -559.5847638962505,
+            420.7183644217076,
+            -2.295031876997477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -561.0847638962505,
+            423.3164406330609,
+            -2.295031876997477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -562.5847638962505,
+            425.9145168444142,
+            -2.295031876997477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -564.0847638962505,
+            428.5125930557675,
+            -2.295031876997477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -565.5847638962505,
+            431.11066926712084,
+            -2.295031876997477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -567.0847638962505,
+            433.70874547847416,
+            -2.295031876997477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -568.5847638962505,
+            436.3068216898275,
+            -2.295031876997477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -570.0847638962505,
+            438.9048979011808,
+            -2.295031876997477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -571.5847638962505,
+            441.5029741125341,
+            -2.295031876997477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -573.0847638962505,
+            444.1010503238874,
+            -2.295031876997477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -574.5847638962505,
+            446.69912653524074,
+            -2.295031876997477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -576.0847638962505,
+            449.29720274659405,
+            -2.295031876997477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -577.5847638962505,
+            451.89527895794737,
+            -2.295031876997477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -579.0847638962505,
+            454.4933551693007,
+            -2.295031876997477
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -579.0847638962505,
+            454.4933551693007,
+            -2.295031876997477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -581.6828401076039,
+            455.9933551693007,
+            -2.295031876997477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -584.2809163189572,
+            457.4933551693007,
+            -2.295031876997477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -586.8789925303106,
+            458.9933551693007,
+            -2.295031876997477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -589.477068741664,
+            460.4933551693007,
+            -2.295031876997477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -592.0751449530173,
+            461.9933551693007,
+            -2.295031876997477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -594.6732211643707,
+            463.4933551693007,
+            -2.295031876997477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -597.2712973757241,
+            464.9933551693007,
+            -2.295031876997477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -599.8693735870775,
+            466.4933551693007,
+            -2.295031876997477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -603.3111000061035,
+            469.6691150665283,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -602.4674497984308,
+            467.9933551693007,
+            -2.295031876997477
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -602.4674497984308,
+            467.9933551693007,
+            -2.295031876997477
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -602.4674497984308,
+            467.9933551693007,
+            -2.295031876997477
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.570796326794906
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -602.4674497984308,
+            467.9933551693007,
+            -2.295031876997477
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -602.4674497984308,
+            467.9933551693007,
+            -2.295031876997477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -600.9674497984308,
+            470.591431380654,
+            -2.295031876997477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -599.4674497984308,
+            473.1895075920073,
+            -2.295031876997477
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -599.4674497984308,
+            473.1895075920073,
+            -2.295031876997477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -596.8693735870775,
+            474.6895075920073,
+            -2.295031876997477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -594.2712973757241,
+            476.1895075920073,
+            -2.295031876997477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -591.6732211643707,
+            477.6895075920073,
+            -2.295031876997477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -589.0751449530173,
+            479.1895075920073,
+            -2.295031876997477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -586.477068741664,
+            480.6895075920073,
+            -2.295031876997477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -583.8789925303106,
+            482.1895075920073,
+            -2.295031876997477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -581.2809163189572,
+            483.6895075920073,
+            -2.295031876997477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -578.6828401076039,
+            485.1895075920073,
+            -2.295031876997477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -576.0847638962505,
+            486.6895075920073,
+            -2.295031876997477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -573.4866876848971,
+            488.1895075920073,
+            -2.295031876997477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -570.8886114735437,
+            489.6895075920073,
+            -2.295031876997477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -568.2905352621904,
+            491.1895075920073,
+            -2.295031876997477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -565.692459050837,
+            492.6895075920073,
+            -2.295031876997477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -563.0943828394836,
+            494.1895075920073,
+            -2.295031876997477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -560.4963066281302,
+            495.6895075920073,
+            -2.295031876997477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -557.8982304167769,
+            497.1895075920073,
+            -2.295031876997477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -555.3001542054235,
+            498.6895075920073,
+            -2.295031876997477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -552.7020779940701,
+            500.1895075920073,
+            -2.295031876997477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -550.1040017827168,
+            501.6895075920073,
+            -2.295031876997477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -547.5059255713634,
+            503.1895075920073,
+            -2.295031876997477
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -544.90784936001,
+            504.6895075920073,
+            -2.295031876997477
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -545.2693195343018,
+            507.36531829833984,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/long/2025-1-8_9-4-51_1597141723/pose.jsonl b/Image/env_gs_sjtu02/astar_data/long/2025-1-8_9-4-51_1597141723/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8f246a26a6d2104019187507be39d358c14ab370
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/long/2025-1-8_9-4-51_1597141723/pose.jsonl
@@ -0,0 +1,691 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -807.9611206042684,
+            593.8780105619442,
+            -11.01394433308468
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -804.9611206042684,
+            593.8780105619442,
+            -11.01394433308468
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -801.9611206042684,
+            593.8780105619442,
+            -11.01394433308468
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -798.9611206042684,
+            593.8780105619442,
+            -11.01394433308468
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -795.9611206042684,
+            593.8780105619442,
+            -11.01394433308468
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -792.9611206042684,
+            593.8780105619442,
+            -11.01394433308468
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -789.9611206042684,
+            593.8780105619442,
+            -11.01394433308468
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -786.9611206042684,
+            593.8780105619442,
+            -11.01394433308468
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -783.9611206042684,
+            593.8780105619442,
+            -11.01394433308468
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -780.9611206042684,
+            593.8780105619442,
+            -11.01394433308468
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -777.9611206042684,
+            593.8780105619442,
+            -11.01394433308468
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -774.9611206042684,
+            593.8780105619442,
+            -11.01394433308468
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -774.9611206042684,
+            593.8780105619442,
+            -11.01394433308468
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -772.3630443929151,
+            595.3780105619442,
+            -11.01394433308468
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -769.7649681815617,
+            596.8780105619442,
+            -11.01394433308468
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -767.1668919702083,
+            598.3780105619442,
+            -11.01394433308468
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -764.568815758855,
+            599.8780105619442,
+            -11.01394433308468
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -761.9707395475016,
+            601.3780105619442,
+            -11.01394433308468
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -759.3726633361482,
+            602.8780105619442,
+            -11.01394433308468
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -756.7745871247948,
+            604.3780105619442,
+            -11.01394433308468
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -754.1765109134415,
+            605.8780105619442,
+            -11.01394433308468
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -751.5784347020881,
+            607.3780105619442,
+            -11.01394433308468
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -746.0297698974609,
+            610.7758102416992,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -748.9803584907347,
+            608.8780105619442,
+            -11.01394433308468
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -748.9803584907347,
+            608.8780105619442,
+            -11.01394433308468
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -9.43689570931383e-15
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -748.9803584907347,
+            608.8780105619442,
+            -11.01394433308468
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755983083
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -748.9803584907347,
+            608.8780105619442,
+            -11.01394433308468
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -748.9803584907347,
+            608.8780105619442,
+            -11.01394433308468
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -748.9803584907347,
+            605.8780105619442,
+            -11.01394433308468
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -748.9803584907347,
+            602.8780105619442,
+            -11.01394433308468
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -748.9803584907347,
+            599.8780105619442,
+            -11.01394433308468
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -748.9803584907347,
+            596.8780105619442,
+            -11.01394433308468
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -748.9803584907347,
+            593.8780105619442,
+            -11.01394433308468
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -748.9803584907347,
+            590.8780105619442,
+            -11.01394433308468
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -748.9803584907347,
+            587.8780105619442,
+            -11.01394433308468
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -748.9803584907347,
+            584.8780105619442,
+            -11.01394433308468
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -748.9803584907347,
+            581.8780105619442,
+            -11.01394433308468
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -748.9803584907347,
+            578.8780105619442,
+            -11.01394433308468
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -748.9803584907347,
+            575.8780105619442,
+            -11.01394433308468
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -748.9803584907347,
+            572.8780105619442,
+            -11.01394433308468
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -748.9803584907347,
+            569.8780105619442,
+            -11.01394433308468
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -748.9803584907347,
+            566.8780105619442,
+            -11.01394433308468
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -748.9803584907347,
+            563.8780105619442,
+            -11.01394433308468
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -748.9803584907347,
+            560.8780105619442,
+            -11.01394433308468
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -748.9803584907347,
+            557.8780105619442,
+            -11.01394433308468
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -748.9803584907347,
+            554.8780105619442,
+            -11.01394433308468
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -748.9803584907347,
+            551.8780105619442,
+            -11.01394433308468
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -748.9803584907347,
+            551.8780105619442,
+            -11.01394433308468
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -750.4803584907347,
+            549.2799343505908,
+            -11.01394433308468
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -751.9803584907347,
+            546.6818581392374,
+            -11.01394433308468
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -753.4803584907347,
+            544.083781927884,
+            -11.01394433308468
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -754.9803584907347,
+            541.4857057165307,
+            -11.01394433308468
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -755.3246536254883,
+            537.5322322845459,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/long/2025-1-8_9-42-26_873199181/pose.jsonl b/Image/env_gs_sjtu02/astar_data/long/2025-1-8_9-42-26_873199181/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..574f1501e3c15836d3b358f861a6b5e5109c818e
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/long/2025-1-8_9-42-26_873199181/pose.jsonl
@@ -0,0 +1,717 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -497.23514658637595,
+            126.48055336179156,
+            -15.080138797982098
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -494.23514658637595,
+            126.48055336179156,
+            -15.080138797982098
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -491.23514658637595,
+            126.48055336179156,
+            -15.080138797982098
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -488.23514658637595,
+            126.48055336179156,
+            -15.080138797982098
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -485.23514658637595,
+            126.48055336179156,
+            -15.080138797982098
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -482.23514658637595,
+            126.48055336179156,
+            -15.080138797982098
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -479.23514658637595,
+            126.48055336179156,
+            -15.080138797982098
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -476.23514658637595,
+            126.48055336179156,
+            -15.080138797982098
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -473.23514658637595,
+            126.48055336179156,
+            -15.080138797982098
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -470.23514658637595,
+            126.48055336179156,
+            -15.080138797982098
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -467.23514658637595,
+            126.48055336179156,
+            -15.080138797982098
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -464.23514658637595,
+            126.48055336179156,
+            -15.080138797982098
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -461.23514658637595,
+            126.48055336179156,
+            -15.080138797982098
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -458.23514658637595,
+            126.48055336179156,
+            -15.080138797982098
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -455.23514658637595,
+            126.48055336179156,
+            -15.080138797982098
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -452.23514658637595,
+            126.48055336179156,
+            -15.080138797982098
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -449.23514658637595,
+            126.48055336179156,
+            -15.080138797982098
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -446.23514658637595,
+            126.48055336179156,
+            -15.080138797982098
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -443.23514658637595,
+            126.48055336179156,
+            -15.080138797982098
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -440.23514658637595,
+            126.48055336179156,
+            -15.080138797982098
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -437.23514658637595,
+            126.48055336179156,
+            -15.080138797982098
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -434.23514658637595,
+            126.48055336179156,
+            -15.080138797982098
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -431.23514658637595,
+            126.48055336179156,
+            -15.080138797982098
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -431.23514658637595,
+            126.48055336179156,
+            -15.080138797982098
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -431.23514658637595,
+            126.48055336179156,
+            -15.080138797982098
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -429.73514658637595,
+            123.88247715043825,
+            -15.080138797982098
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -425.6671447753906,
+            120.61265325546265,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -428.23514658637595,
+            121.28440093908493,
+            -15.080138797982098
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -428.23514658637595,
+            121.28440093908493,
+            -15.080138797982098
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -428.23514658637595,
+            118.28440093908493,
+            -15.080138797982098
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -428.23514658637595,
+            115.28440093908493,
+            -15.080138797982098
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -428.23514658637595,
+            112.28440093908493,
+            -15.080138797982098
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -428.23514658637595,
+            109.28440093908493,
+            -15.080138797982098
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -428.23514658637595,
+            106.28440093908493,
+            -15.080138797982098
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -428.23514658637595,
+            103.28440093908493,
+            -15.080138797982098
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -428.23514658637595,
+            100.28440093908493,
+            -15.080138797982098
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -428.23514658637595,
+            97.28440093908493,
+            -15.080138797982098
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -428.23514658637595,
+            94.28440093908493,
+            -15.080138797982098
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -428.23514658637595,
+            91.28440093908493,
+            -15.080138797982098
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -428.23514658637595,
+            88.28440093908493,
+            -15.080138797982098
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -428.23514658637595,
+            85.28440093908493,
+            -15.080138797982098
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -428.23514658637595,
+            82.28440093908493,
+            -15.080138797982098
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -428.23514658637595,
+            79.28440093908493,
+            -15.080138797982098
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -428.23514658637595,
+            76.28440093908493,
+            -15.080138797982098
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -428.23514658637595,
+            73.28440093908493,
+            -15.080138797982098
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -428.23514658637595,
+            70.28440093908493,
+            -15.080138797982098
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -428.23514658637595,
+            67.28440093908493,
+            -15.080138797982098
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -428.23514658637595,
+            64.28440093908493,
+            -15.080138797982098
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -428.23514658637595,
+            61.28440093908493,
+            -15.080138797982098
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -428.23514658637595,
+            58.28440093908493,
+            -15.080138797982098
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -428.23514658637595,
+            58.28440093908493,
+            -15.080138797982098
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -429.73514658637595,
+            55.686324727731616,
+            -15.080138797982098
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -431.23514658637595,
+            53.0882485163783,
+            -15.080138797982098
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -432.73514658637595,
+            50.490172305024984,
+            -15.080138797982098
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -434.32421112060547,
+            48.821704387664795,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_gs_sjtu02/astar_data/long/2025-1-8_9-44-57_476152433/pose.jsonl b/Image/env_gs_sjtu02/astar_data/long/2025-1-8_9-44-57_476152433/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3dd07058c588eb4ceb8a74e97222f4a55c3e6e70
--- /dev/null
+++ b/Image/env_gs_sjtu02/astar_data/long/2025-1-8_9-44-57_476152433/pose.jsonl
@@ -0,0 +1,717 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -450.5387162007506,
+            417.33722138032795,
+            -0.053476900698974816
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -452.0387162007506,
+            419.93529759168126,
+            -0.053476900698974816
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -453.5387162007506,
+            422.5333738030346,
+            -0.053476900698974816
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -455.0387162007506,
+            425.1314500143879,
+            -0.053476900698974816
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -456.5387162007506,
+            427.7295262257412,
+            -0.053476900698974816
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -458.0387162007506,
+            430.3276024370945,
+            -0.053476900698974816
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -459.5387162007506,
+            432.92567864844784,
+            -0.053476900698974816
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -461.0387162007506,
+            435.52375485980116,
+            -0.053476900698974816
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -462.5387162007506,
+            438.1218310711545,
+            -0.053476900698974816
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -464.0387162007506,
+            440.7199072825078,
+            -0.053476900698974816
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -465.5387162007506,
+            443.3179834938611,
+            -0.053476900698974816
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -467.0387162007506,
+            445.9160597052144,
+            -0.053476900698974816
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -468.5387162007506,
+            448.51413591656774,
+            -0.053476900698974816
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -470.0387162007506,
+            451.11221212792105,
+            -0.053476900698974816
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -471.5387162007506,
+            453.71028833927437,
+            -0.053476900698974816
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -473.0387162007506,
+            456.3083645506277,
+            -0.053476900698974816
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -474.5387162007506,
+            458.906440761981,
+            -0.053476900698974816
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -476.0387162007506,
+            461.5045169733343,
+            -0.053476900698974816
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -477.5387162007506,
+            464.10259318468763,
+            -0.053476900698974816
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -479.0387162007506,
+            466.70066939604095,
+            -0.053476900698974816
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -479.0387162007506,
+            466.70066939604095,
+            -0.053476900698974816
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -479.0387162007506,
+            469.70066939604095,
+            -0.053476900698974816
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -479.0387162007506,
+            472.70066939604095,
+            -0.053476900698974816
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -479.0387162007506,
+            475.70066939604095,
+            -0.053476900698974816
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -479.76721382141113,
+            480.29591369628906,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -479.0387162007506,
+            478.70066939604095,
+            -0.053476900698974816
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -479.0387162007506,
+            478.70066939604095,
+            -0.053476900698974816
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -479.0387162007506,
+            478.70066939604095,
+            -0.053476900698974816
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -479.0387162007506,
+            478.70066939604095,
+            -0.053476900698974816
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -481.63679241210394,
+            480.20066939604095,
+            -0.053476900698974816
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -484.23486862345726,
+            481.70066939604095,
+            -0.053476900698974816
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -486.8329448348106,
+            483.20066939604095,
+            -0.053476900698974816
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -489.4310210461639,
+            484.70066939604095,
+            -0.053476900698974816
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -492.0290972575172,
+            486.20066939604095,
+            -0.053476900698974816
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -494.6271734688705,
+            487.70066939604095,
+            -0.053476900698974816
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -497.22524968022384,
+            489.20066939604095,
+            -0.053476900698974816
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -499.82332589157716,
+            490.70066939604095,
+            -0.053476900698974816
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -502.4214021029305,
+            492.20066939604095,
+            -0.053476900698974816
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -505.0194783142838,
+            493.70066939604095,
+            -0.053476900698974816
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -507.6175545256371,
+            495.20066939604095,
+            -0.053476900698974816
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -510.2156307369904,
+            496.70066939604095,
+            -0.053476900698974816
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -512.8137069483437,
+            498.20066939604095,
+            -0.053476900698974816
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -515.411783159697,
+            499.70066939604095,
+            -0.053476900698974816
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -518.0098593710504,
+            501.20066939604095,
+            -0.053476900698974816
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -520.6079355824038,
+            502.70066939604095,
+            -0.053476900698974816
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -523.2060117937572,
+            504.20066939604095,
+            -0.053476900698974816
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -525.8040880051105,
+            505.70066939604095,
+            -0.053476900698974816
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -528.4021642164639,
+            507.20066939604095,
+            -0.053476900698974816
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -528.4021642164639,
+            507.20066939604095,
+            -0.053476900698974816
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -531.4021642164639,
+            507.20066939604095,
+            -0.053476900698974816
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -534.4021642164639,
+            507.20066939604095,
+            -0.053476900698974816
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -537.4021642164639,
+            507.20066939604095,
+            -0.053476900698974816
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -540.4021642164639,
+            507.20066939604095,
+            -0.053476900698974816
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -543.4021642164639,
+            507.20066939604095,
+            -0.053476900698974816
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -545.2693195343018,
+            507.36531829833984,
+            0.0
+        ],
+        "shape": "test",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011138.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011138.png
new file mode 100644
index 0000000000000000000000000000000000000000..5d928ab7080a978f4fd5f402271baf050631ce03
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011138.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b8ed7c4cb659330d15a76bc3f051f1a4d1a7930b6ec5c4711ca38a48835c9f3
+size 671555
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011141.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011141.png
new file mode 100644
index 0000000000000000000000000000000000000000..3acfabd3e6da4289fb25c134f7d1ddc9f00eead2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011141.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1c7d4115ec63a48907179a4c276d75506f1d40cfb8a8f1a571661da8f1c9f48
+size 707576
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011143.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011143.png
new file mode 100644
index 0000000000000000000000000000000000000000..f964385d580bef0162a8a19269f3ed155a39ac5a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011143.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65a7a994ae53c1cfbaa183b54f799066e540b78a9387e8b4001cee0b407db5fc
+size 717259
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011146.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011146.png
new file mode 100644
index 0000000000000000000000000000000000000000..e525bedeb34c4a833142d9ac86ab148b8be390ad
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011146.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f399f3ff16a2f4c02861751240f8f35a1b71d8b9233556d0d3b7638fd34512a
+size 733326
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011148.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011148.png
new file mode 100644
index 0000000000000000000000000000000000000000..4690eb7c72c92678e12350d2a2c079988866d95f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011148.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d044e73b8f0f6e713657aefb8124869de4087c82f60b21623e6a5a3b87bb0cd9
+size 746635
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011150.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011150.png
new file mode 100644
index 0000000000000000000000000000000000000000..b404957e6b12cece785a970ed724c15bb0d74814
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011150.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3051147e6b2f84e1094feabb0875270e2663f17387b85a86e02503c1d1333aef
+size 765334
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011153.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011153.png
new file mode 100644
index 0000000000000000000000000000000000000000..fb37012db5489aceb6cc1d80811f2a9ca5b66aa5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011153.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:840df2d43ff9c88356089539cc6dd4ed930d0f759d754444d23c183f33804a45
+size 765210
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011155.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011155.png
new file mode 100644
index 0000000000000000000000000000000000000000..9a450c5da17c3c4f6e75b991b069f32fcf17d7b6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011155.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8a158aa9c3618780df6b74e55c994dfe72bfd10ae0356d29fea18d94824f1dd
+size 757683
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011157.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011157.png
new file mode 100644
index 0000000000000000000000000000000000000000..f57feadc9f173fbe8ffe15c87e2e6375ce1af9e5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011157.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eca04f1a8c17a56f8878fb773fd0cc3b9a403d32168311cb8197fad2715a2fea
+size 756225
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011200.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011200.png
new file mode 100644
index 0000000000000000000000000000000000000000..d7c9a132b4bb0628c8be5f5a5d8587055819b837
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011200.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b46ef7159f3559f2aba2cc8c65231b9e716765c8161ebfe7c443c559718d39ac
+size 756389
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011202.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011202.png
new file mode 100644
index 0000000000000000000000000000000000000000..dcca01ce5b32fad28692efb8562429c90e5a2bd2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011202.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ce8d51922d80ef888092cca4cb4e3c204ee80c51249ff4f250de3f10e671967
+size 752693
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011204.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011204.png
new file mode 100644
index 0000000000000000000000000000000000000000..57bdefbed26f3ec7f1ae1702c0227e97360d22c7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011204.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbb57905778208098ba179ec680e3a4916894c55fd87bbce0024dac90ce9db2e
+size 752521
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011207.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011207.png
new file mode 100644
index 0000000000000000000000000000000000000000..645ed10fa3cf466eb64ba3c926e572a9b7e10f5d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011207.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:467d9d1027f3c7bccd099c76837f05067576dc190ebaf9ec9a959720232272f0
+size 747995
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011209.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011209.png
new file mode 100644
index 0000000000000000000000000000000000000000..1726c582888eb1d00edc64a0509154b09e640ba1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011209.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:586fb4444916abc3d5b464ece2e31e1e7c3e8de4915027c8e83b3decb4c82865
+size 744497
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011212.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011212.png
new file mode 100644
index 0000000000000000000000000000000000000000..22eb0a8b723d8dad7c20ebc7ffe27eb397b353fe
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011212.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c651e673b40ab559f8b69e4b6df364601129b46ab43755b438c8a609f9c6b116
+size 749624
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011214.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011214.png
new file mode 100644
index 0000000000000000000000000000000000000000..e34cf62a18e89d3a7ba3a6b2ecb63c8442590fdb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011214.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79470adefba02a9b525093151b3d453a4f981eaf38b05c81e597c03df1ac8054
+size 756212
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011216.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011216.png
new file mode 100644
index 0000000000000000000000000000000000000000..3c5f20c108fe795018cb7656519cbe7cdab35273
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011216.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19e200f9de914a83757931207c28e8154637241d093a27d8bc8740c7ecae653e
+size 710895
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011219.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011219.png
new file mode 100644
index 0000000000000000000000000000000000000000..2446218f8c47e8ae956027f5e5ff92c3d03cda7a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011219.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a451d850ea83a0c2bc90efdcc2bf76ddb116473cb0b8a0da88636ce9d76a467d
+size 710585
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011221.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011221.png
new file mode 100644
index 0000000000000000000000000000000000000000..fcb0d5121ca5ecc5603e0558df5516d0a3a67fd6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011221.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21f4269a686b17d9baf0712354a19bd823f30be3f247eb4f8d149483ec9feae3
+size 718035
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011223.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011223.png
new file mode 100644
index 0000000000000000000000000000000000000000..7925f311a68655552e9887d49e5094eaf873a516
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011223.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6735dced108f1d62f4e1ef31c0b6ee6a0117e33b64a0b5e78ea9369275c39880
+size 733136
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011226.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011226.png
new file mode 100644
index 0000000000000000000000000000000000000000..487b867a08b2d640e0ae16fb0bc54dc3a2ec4537
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011226.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:949189381e96f44b8b910e8ef811cc81ea0bd20caf8821137b370070b609c79e
+size 743003
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011228.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011228.png
new file mode 100644
index 0000000000000000000000000000000000000000..98859b53d7e9bba4486f1c6485e0c777ea560d8f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011228.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3f5bad9e2e681318f1ca9054c844d5af0415d11ccfc48c7656e282edd10d89e
+size 775958
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011231.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011231.png
new file mode 100644
index 0000000000000000000000000000000000000000..91bdae585865e4b65fe24de6084c04e621bd3895
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011231.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52ee6200fa545e388f05e01fa0f6d241d3e29cee2ad9c99c646501d7321ae63f
+size 780263
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011233.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011233.png
new file mode 100644
index 0000000000000000000000000000000000000000..867d481b626ced5aa2ebd6697415a96dcbf31c82
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011233.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7b2926345204a9e950b92d68740bf689d9578170f4a4fbb5c33715e139b28ba
+size 783903
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011236.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011236.png
new file mode 100644
index 0000000000000000000000000000000000000000..38d3ea29f3cadc66552317c3273af91944243f95
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011236.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4de2df753359dd8736571e53cca12102ba0bad180a0e781a31ad560727d24a35
+size 789040
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011238.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011238.png
new file mode 100644
index 0000000000000000000000000000000000000000..d3a7e8c60437ed1c3276cae02c439f68b57e95f8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011238.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9877db32ddcb26b0cc1f8ae04c1a70ffb3fe4f87ea0749570674241e3e0e3d20
+size 791607
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011241.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011241.png
new file mode 100644
index 0000000000000000000000000000000000000000..d9ab0194570d0b80178d942f3c443c7bb608bf00
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011241.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a101e439cfb5f08fd2aec36d3a7a63f05f873cd84141a6ed37609b7576b3d9f9
+size 794054
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011243.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011243.png
new file mode 100644
index 0000000000000000000000000000000000000000..0deb216b27b03c73cba1609f3920b2d315685eec
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011243.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:185d24eb9194657cf2532c8178b66182b3a1977bcce5bf632a10ea507334e8da
+size 793155
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011245.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011245.png
new file mode 100644
index 0000000000000000000000000000000000000000..76b9a3b1c91b5266c1ac4d5cb23bc4b578d415f9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011245.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66f5be46879492cff1a02dc8a0de88ae5e218e725e2947109af3dd9ff58487a4
+size 791884
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011248.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011248.png
new file mode 100644
index 0000000000000000000000000000000000000000..12af98bb87ed83feb355933fba130cba1a64f628
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011248.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b55fe29f7a7e8c14993ebcea72690f8b933c939b7a3d1f3c308fa54eccefad95
+size 788764
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011250.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011250.png
new file mode 100644
index 0000000000000000000000000000000000000000..91ffe541f9ec0fa8029c462a5b023c89a8d49bf1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011250.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9dfe361b4c0e036fb97200115da6360ee50cac5c1edcbee486c44c5f7ea36b4f
+size 786945
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011252.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011252.png
new file mode 100644
index 0000000000000000000000000000000000000000..98a2fa022d24b915ed22d6ed3b4af6958e4df4d5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011252.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5bf13886f2bf8d4196f1d489b000b6644890c98a9bf36fef31046f5e65e4733c
+size 787621
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011255.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011255.png
new file mode 100644
index 0000000000000000000000000000000000000000..55482fa8fc631c401e8ebc2149ca934ffdd4ffa5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-11-30_736636/20250119_011255.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a39485bf8e128ebfa9d234c32084d9ab3a68fb80f46e6340f34c6da1fef5cf19
+size 785768
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-15-26_263761/20250119_011534.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-15-26_263761/20250119_011534.png
new file mode 100644
index 0000000000000000000000000000000000000000..40ea23fb85e66436fc84654f9ed9915ec3c0110d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-15-26_263761/20250119_011534.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68c36536f00b30c67844bbedcf362ea18f62a235052ba64079a2c6ffdbd80901
+size 776816
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-15-26_263761/20250119_011536.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-15-26_263761/20250119_011536.png
new file mode 100644
index 0000000000000000000000000000000000000000..c3d564e0241b95aaae37b02e4d93f076e5312f35
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-15-26_263761/20250119_011536.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc908385ae235b222a573d9749089de804bcf9a0b79691487ed596d70492691c
+size 752676
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-15-26_263761/20250119_011539.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-15-26_263761/20250119_011539.png
new file mode 100644
index 0000000000000000000000000000000000000000..b63fc87b4c1f9b56fe579256ee5d027d7a6fc2f8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-15-26_263761/20250119_011539.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7df42ce61875282288f80f78c63816c6c171295d02602369ff88b7329fdee5b4
+size 755158
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-15-26_263761/20250119_011541.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-15-26_263761/20250119_011541.png
new file mode 100644
index 0000000000000000000000000000000000000000..3c953dcaadf31f5d9178ceaf1ded8d59c9041eb1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-15-26_263761/20250119_011541.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5306ccd7382d10e67a70b721165a70bc6d32865ebfa1236c954fa1147ad41b18
+size 737101
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-15-26_263761/20250119_011544.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-15-26_263761/20250119_011544.png
new file mode 100644
index 0000000000000000000000000000000000000000..072bc5c70b2e18df708797e73419a616d9860a6e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-15-26_263761/20250119_011544.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a91d2d2786d4e6ec6687db0cdb6d562bccf0bf1091b9f76ec6f4083e88294bf
+size 734558
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-15-26_263761/20250119_011546.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-15-26_263761/20250119_011546.png
new file mode 100644
index 0000000000000000000000000000000000000000..7098d0425309c778f7af142ca2f0d416e3147f49
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-15-26_263761/20250119_011546.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1a4e7e18569862c4a6bc331c093f354dca0f75cef4852c042c17fe903e30b42
+size 736336
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-15-26_263761/20250119_011548.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-15-26_263761/20250119_011548.png
new file mode 100644
index 0000000000000000000000000000000000000000..f1e56bc72a448cd66fdb8b73bdd455abb1867aa7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-15-26_263761/20250119_011548.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:facdbc278022f90b7ebbf51a1088568bec459cb7b17beb62de9edf426240e914
+size 735112
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-15-26_263761/20250119_011551.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-15-26_263761/20250119_011551.png
new file mode 100644
index 0000000000000000000000000000000000000000..fb4900b4f6d8f708a1b018b72ae06847283d9372
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-15-26_263761/20250119_011551.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22bde5917674d1839c17b46c0c6b5716b89225fb834dcf6d53b6e10bb158cfc5
+size 738904
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-15-26_263761/20250119_011553.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-15-26_263761/20250119_011553.png
new file mode 100644
index 0000000000000000000000000000000000000000..8b5b15bfb3598731427a4954203ae3a0ca9d0782
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_01-15-26_263761/20250119_011553.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0cee47bafbf3fa6af9ec0fea1a2c728c0611731ad6170208e5396896f3418eed
+size 768686
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024045.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024045.png
new file mode 100644
index 0000000000000000000000000000000000000000..07d6257d9d4fa0369d69cbc6f051567d1dec246a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024045.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f10f455721585019ca6ea814651c278b97b17a4f1903bfd5b643251f3e7c8bed
+size 809942
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024047.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024047.png
new file mode 100644
index 0000000000000000000000000000000000000000..9ccc0f1b20ec24871b77a8a2232efdcd032908a0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024047.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8679193551840868ae5336247fdcd02df171df20783764bfd6f68fb380bc9fce
+size 791561
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024049.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024049.png
new file mode 100644
index 0000000000000000000000000000000000000000..61c28ff42c0a41e16c005f9289b9ddc077bf4353
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024049.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:514aa58ac98c54e02f1e72fa73a48fc0bb912bd1e7f29a0e2d74de15f2f910a2
+size 802537
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024051.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024051.png
new file mode 100644
index 0000000000000000000000000000000000000000..019130413bc4369e89e59e18b53c6c4048c82ba2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024051.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c1a5bcc7ef1460eacf7c60c2c6c5a9c79ed09941e36e60f3687bf611b444e36
+size 801716
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024054.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024054.png
new file mode 100644
index 0000000000000000000000000000000000000000..751ac6ea447020244bdff807c5f0c67c20f1fbb3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024054.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ea0d5fe91233d43d992fd6976ea23eb5976d4328b11b5bf5cd65869b9d8305f
+size 819845
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024056.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024056.png
new file mode 100644
index 0000000000000000000000000000000000000000..cc73d48612fd50624556708933baac85d64b2810
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024056.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c423f38243e75610eab6de3a7722b4cd533d15f45ebd84e920c8570feb8304c1
+size 828798
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024058.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024058.png
new file mode 100644
index 0000000000000000000000000000000000000000..ed4df0180c56d21dd42357a5b879e1ccb726a28c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024058.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:083f04f74049692ef57f941d6179461e02c13e8b3ffad1a03c31a9e474103163
+size 820379
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024100.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024100.png
new file mode 100644
index 0000000000000000000000000000000000000000..e232fc91aab5a9e88e9781361eaf57564dc2b235
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024100.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0063508b27fa07c2536adf009874f6a1a7636323ebe4cdbdec89c3d89737d1b
+size 825087
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024102.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024102.png
new file mode 100644
index 0000000000000000000000000000000000000000..2b5d57e74db1c149933a61ae7c313bb994f33759
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024102.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93c784a16c9d85fafcd362715f1e394b1ab687901447103c0c2af4b8e2ee6d16
+size 825206
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024104.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024104.png
new file mode 100644
index 0000000000000000000000000000000000000000..0ed6eefd65a3e9c7350d70ea67d8763c7a29d19e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024104.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c859bc39d25e1583972a738313e16a2f610cdcd762c5bb0c14ba4978fec08c4
+size 816240
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024106.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024106.png
new file mode 100644
index 0000000000000000000000000000000000000000..43185bac2ee06c7f887e855abac02aa7cf2be6e8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024106.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:726fca9485688fa2b7b18db42a61d76903ecf8a351158396ab8e39c3972bc654
+size 821918
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024108.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024108.png
new file mode 100644
index 0000000000000000000000000000000000000000..0ca8777a1f7e9b429b908f440ae65607dc3af897
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024108.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1e78318d9851ae6e02d1a5614e7060862976b5279afbe38f37cf392e82ade7a
+size 823918
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024111.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024111.png
new file mode 100644
index 0000000000000000000000000000000000000000..91f00d9d275712c0b48436c935a698e569a643f5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024111.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3ea2944a433499a362973f888120f11dd051833810e15000a77b1a11b2610ac
+size 819508
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024115.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024115.png
new file mode 100644
index 0000000000000000000000000000000000000000..0028f310d0564b3ec09b831801b14dfe4430fda8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024115.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f18a6190608a4b1bf9bb1144e04f1e195c24dcbdea324b36e7aa164d85d89fb
+size 809226
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024117.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024117.png
new file mode 100644
index 0000000000000000000000000000000000000000..e7d8ae0d98591def581155c0e662817548ed37fe
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024117.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e91f25918ba4a0169c9aa36f2c4a68e0c92a3dfe04969cb182bab496b59ac62d
+size 800428
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024119.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024119.png
new file mode 100644
index 0000000000000000000000000000000000000000..3f2f5c457b0bb9d8d63accbb13dc8396fb7e7292
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024119.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0fea770088f4d8355498e8b1d2bd3763e7f9cbd473655e0870ecfdb63842d705
+size 785199
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024121.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024121.png
new file mode 100644
index 0000000000000000000000000000000000000000..04b49837bb7f943bacf64cbc83bd8523a5583091
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024121.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb52963548b9756698a6bd44613f140545d62e5a0a10c7e5edfa1eecf1474f59
+size 768742
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024124.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024124.png
new file mode 100644
index 0000000000000000000000000000000000000000..3fca1ae01b3cdcbe6897c587f0d202a1566a4ec6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024124.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e1dfc3aba7d66c26d426864b78d03eb8ec8e165b667bd3e9a24e588777c0b73
+size 772111
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024126.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024126.png
new file mode 100644
index 0000000000000000000000000000000000000000..a802b96e67fbbd642f5e9cc0116369d7ee31f517
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024126.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0de432c7b1115e8e9df0bf0703d0820e47e65635c1c1efb9eeccd5f3a0fb4af
+size 769910
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024128.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024128.png
new file mode 100644
index 0000000000000000000000000000000000000000..44ec0b0225f6f4c06260dda9d2b0fcd50498ec7b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024128.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:434505c3f80e244d758110dd6dcc8ccc3cf63dca8baec44bf241ca62cb702e47
+size 768479
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024132.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024132.png
new file mode 100644
index 0000000000000000000000000000000000000000..0490d6833859baee1b46b7eba07003f5839e5917
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024132.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11047c1580f40d56eb2f85b5766f700cf1ddc40e1752db5153a051975c31a8d5
+size 812830
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024134.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024134.png
new file mode 100644
index 0000000000000000000000000000000000000000..c0a955527da71908cbe7ecb01e6207256be98b4a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024134.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13237cef9edca92fa50c800b2508285c319deb8d6acca509a42f5ab8c27ac75b
+size 830970
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024136.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024136.png
new file mode 100644
index 0000000000000000000000000000000000000000..034bb2b81929721ae99651f6e01ef443450d5252
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024136.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c422893cd2ff4af96e49a8fb68d37e133c26e64d14e513e1b2bfe47d7e508d76
+size 832356
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024138.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024138.png
new file mode 100644
index 0000000000000000000000000000000000000000..a9ebe0ce3a98b3cb68720e2969690e4622b31e7a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024138.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40520ea1d3679ba6fcae5f9a60495dd31785d5f650069f8196a8d63b45fdab84
+size 831297
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024140.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024140.png
new file mode 100644
index 0000000000000000000000000000000000000000..a05d8439adbcd20b3b600af5e8dba3f7e0b9caaa
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024140.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:023ba1cc40c5d264d702c59ad17e1675ba87fad0a785477c96c898d36c5bc6ac
+size 778851
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024143.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024143.png
new file mode 100644
index 0000000000000000000000000000000000000000..5287c9dd01841e26051e7ec5abe81a8b8b99aa3d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024143.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90c43bdb84c388dab67c966a5d92ad898d4364557ad05bca531322bc5f778677
+size 775675
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024145.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024145.png
new file mode 100644
index 0000000000000000000000000000000000000000..8dedc5ebd7aa918802b0a30c1ed55ce0a71db94b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024145.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f5d179b03b4e31f8ceef937641ef602a772d39a3a687a85fa26d3013aa3f588
+size 827334
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024147.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024147.png
new file mode 100644
index 0000000000000000000000000000000000000000..916e1288d317a5fef4d9ee76ae4c9abea97dc5d9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024147.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2c17e3617e2ba100e4408b2e6c1c658e018a5311bfe305af03a32bad9cfc958
+size 828418
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024149.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024149.png
new file mode 100644
index 0000000000000000000000000000000000000000..69f3e48201468cb7131ba0c7135e921b0ed12509
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024149.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f73f9aa61aab2d321b89c9339125ecc7308f8c46688320ec1770bedb87b4c61
+size 834078
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024151.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024151.png
new file mode 100644
index 0000000000000000000000000000000000000000..e74e1118f4a1f16e74f86d8bee0dd56c54739978
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024151.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e10fedb49211eb277d09a58e665c4e15505ff0081550ffce3573b3c146e1424
+size 835501
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024154.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024154.png
new file mode 100644
index 0000000000000000000000000000000000000000..9541ffcafa07caaf6fb6121c9adba28dfd414d9f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024154.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3ab797e4d5d0a789165b2713ef4d484f13b592e9456ecf5ed0bc85c897d264c
+size 832646
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024156.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024156.png
new file mode 100644
index 0000000000000000000000000000000000000000..15f85809d154a301c1d0ee0cabd3b639fbd9e285
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024156.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf8c39f6f4b14eadbc2b7d6f2b30655e3247dfb8253ff52466b05053bf356b4d
+size 850099
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024158.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024158.png
new file mode 100644
index 0000000000000000000000000000000000000000..5f5be44d18d62cdd66585780b2150974f1522338
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024158.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b09a5ebd72a931a636a808dc9a94e0c2942793a22c3398056ec052493d2d2119
+size 849339
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024200.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024200.png
new file mode 100644
index 0000000000000000000000000000000000000000..3f4d440bb889c9e6645f71a0adb6f3bdbea4c0ab
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024200.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85d40599f45c3e20d5d79f8540000ff554ec234a881b1726c00a0dd54b03225b
+size 850873
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024202.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024202.png
new file mode 100644
index 0000000000000000000000000000000000000000..272037532fdbf0075b337d55d6d87dc7b356668b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024202.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e34adee3ffa695c33e97086a4f821b019e7743c7ae0fce1829bd9a3a53a15a42
+size 847811
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024204.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024204.png
new file mode 100644
index 0000000000000000000000000000000000000000..74d523bb6c8ea30d4332fd8c9b6ec930a4f32015
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024204.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24c754d09705e81c97dbfc33579693381c78be22f00046a5d0e9616f202a2546
+size 836134
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024207.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024207.png
new file mode 100644
index 0000000000000000000000000000000000000000..61e6d306521ec8234e4c2affda45823e4ec8706f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024207.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4168f1e7896ef43c6921645e89cfeffcedc57bd92f5e2c6d357d02be71d0924e
+size 836309
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024209.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024209.png
new file mode 100644
index 0000000000000000000000000000000000000000..240c3e2a3835ff27ccbff00d133083c9801e450a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024209.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f536b1fc872524d3d8339630e57517547d90882dec8b124244a52c2a06bbac6
+size 830773
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024211.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024211.png
new file mode 100644
index 0000000000000000000000000000000000000000..a957305636d24bb17b9abacae4c1f34f5dba31b5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024211.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efcab81fa1db3dff63ce75e183a8e3b3581da6b63153f0dc5cc681bd81ecf665
+size 833303
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024213.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024213.png
new file mode 100644
index 0000000000000000000000000000000000000000..d1b98b6fde1a6ee67e9d960871bb5f54dc105918
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024213.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ea85bb5b4468a5b357863ec0b7bbc53c8a9919377e737331969c7d094f208b3
+size 833944
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024215.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024215.png
new file mode 100644
index 0000000000000000000000000000000000000000..681316cf1f4c0f1203a43a58335ded5267c65c34
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024215.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4276311d6e3a8619ef001aa1c1c87b86e6f67a0d8f73edd28f3bf52c1c2348e3
+size 830699
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024217.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024217.png
new file mode 100644
index 0000000000000000000000000000000000000000..b2d6d1952a932bf11f784ca598ab57f5afdf8c55
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024217.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7c5c961756120416fb5de1d427f04c21d3b3ce3a2364afdf1db790689f592d9
+size 823891
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024220.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024220.png
new file mode 100644
index 0000000000000000000000000000000000000000..fe8106ce80fc087dc69f639210ba2cf0c1cdf8e5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024220.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9991c8e98911cc0bc92ab38b41cde8b1447ec4f6e019c05017ae018e3e5e394d
+size 808403
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024222.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024222.png
new file mode 100644
index 0000000000000000000000000000000000000000..ecdc02864e9592b4789d4969147f26a3f421025a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024222.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba2ba583605b062d9553eeda651578e9198041e6720d6a67b11d5402d88ae83d
+size 804907
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024224.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024224.png
new file mode 100644
index 0000000000000000000000000000000000000000..fa631bedb7f83cf2f47c79ad8335282d586df3b5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024224.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05d8f3aaaeeb56bbac14cd7d9dc487d8bad39eba6cd7df51d80d8abff4fa8806
+size 806333
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024226.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024226.png
new file mode 100644
index 0000000000000000000000000000000000000000..56e655a35857b274c7f1a7d8e331eddc7698d163
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024226.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27a30a007b00f560273923317651b095315512e486121e8ba0a0a559d22c4410
+size 804186
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024228.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024228.png
new file mode 100644
index 0000000000000000000000000000000000000000..0203ac7f4ccdf87f93f32ad571be2db72610816e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024228.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d573bb481e47fb2e8e1cfa4e1bbf326c04b985428ab8353f4e27bfae75751ce
+size 824720
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024231.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024231.png
new file mode 100644
index 0000000000000000000000000000000000000000..cfd9ac9280e454aeb288b2a9ee8dc3505640af26
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_02-40-37_499197/20250119_024231.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dcfeecd94077b0fe33d167900ba4f5c5dfdd829553f776ab9bd6eb89dfc6e330
+size 820377
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_03-02-38_567344/20250119_030244.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_03-02-38_567344/20250119_030244.png
new file mode 100644
index 0000000000000000000000000000000000000000..38318bbb31ba854068b10b53f64a5d2da44371af
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_03-02-38_567344/20250119_030244.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc351cce634ce276ab6edd6709186a19da6e2daaeba481c195bb09f166bbd253
+size 651057
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_03-02-38_567344/20250119_030246.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_03-02-38_567344/20250119_030246.png
new file mode 100644
index 0000000000000000000000000000000000000000..efb34ab9d3d829488d2e8182321b06f3ed20d2c2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_03-02-38_567344/20250119_030246.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cdac99169bd453c8d5e345823e62b4467397eb61d5ac40ed954c1bfb62d06885
+size 646762
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_03-02-38_567344/20250119_030248.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_03-02-38_567344/20250119_030248.png
new file mode 100644
index 0000000000000000000000000000000000000000..a02b512f88bb342da0d398fde22b9a3c79c35826
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_03-02-38_567344/20250119_030248.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:556ad1ae93f3bb9d7b01a79efb401a598d8bd6e18f4b8254aa30e54a7881b56c
+size 646133
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_03-02-38_567344/20250119_030251.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_03-02-38_567344/20250119_030251.png
new file mode 100644
index 0000000000000000000000000000000000000000..b6853664b0c443ca3ae49a9440f94d796fd27223
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_03-02-38_567344/20250119_030251.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7a20d82dead8c514c804291c9e722a5df31aef6612b23289b12463df9ab7f72
+size 650074
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_03-02-38_567344/20250119_030253.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_03-02-38_567344/20250119_030253.png
new file mode 100644
index 0000000000000000000000000000000000000000..6f2ed2b4be67a443b1bb119292d940ccbc5947e6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_03-02-38_567344/20250119_030253.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:863f8c8fff519d7592cb30a09c111fa1525516626dffe22302280bac7f3b39a8
+size 651420
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_03-02-38_567344/20250119_030255.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_03-02-38_567344/20250119_030255.png
new file mode 100644
index 0000000000000000000000000000000000000000..bd46395e63e8426bb20a01594b45264eb3e94837
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_03-02-38_567344/20250119_030255.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd548f49a21b8eb797249c2871f7bf784fd43f060ba3539a6f6ecd32f3aff049
+size 578080
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_03-02-38_567344/20250119_030257.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_03-02-38_567344/20250119_030257.png
new file mode 100644
index 0000000000000000000000000000000000000000..124e24d8a6560dbb5ffa07bbd8157ab5d790716c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_03-02-38_567344/20250119_030257.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cb171967b279d747c072282f573214ea5d9eb3f235f018b6f1a3c552ced01d7
+size 561238
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_03-02-38_567344/20250119_030259.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_03-02-38_567344/20250119_030259.png
new file mode 100644
index 0000000000000000000000000000000000000000..8369329fce9a08a43cbeddeb3a34a337d0227c3d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_03-02-38_567344/20250119_030259.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e9ccd32cbdf751b3370cfd1430ef239cbf731db647c7d2ed662073dc1669afa
+size 539665
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_03-02-38_567344/20250119_030301.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_03-02-38_567344/20250119_030301.png
new file mode 100644
index 0000000000000000000000000000000000000000..5af96aa1f9c10320b520f865e14c6cc5720879f6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_03-02-38_567344/20250119_030301.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:374affc42ea7bbc4438ebcc8db41edc665d98b8af36f5d0e77ca47b9cb5ab854
+size 535595
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_03-02-38_567344/20250119_030303.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_03-02-38_567344/20250119_030303.png
new file mode 100644
index 0000000000000000000000000000000000000000..e9979b1de625d014301f1d9c7faec866c75c513c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_03-02-38_567344/20250119_030303.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c993c4f30a1b127751bf35f93dcb9f4ee2767e653b58af6a884780a75039648a
+size 529793
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054554.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054554.png
new file mode 100644
index 0000000000000000000000000000000000000000..8f7cd7030897d2d449041db2e5c0675c6ab2ee38
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054554.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43e4f6d45d3ef988f2f5657a997c1f7eaea4508890438be672e9d5dc24e437d1
+size 719539
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054556.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054556.png
new file mode 100644
index 0000000000000000000000000000000000000000..6c84b4b5baa6ab884eb46d40c649b24c93044a65
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054556.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:251c2f22cdbf7587192217a5413f81389ea9705daac41a0dd4a7c23fba3659e7
+size 721676
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054559.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054559.png
new file mode 100644
index 0000000000000000000000000000000000000000..113bbe01864a4017436b0b85bc9acf87b3711c81
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054559.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f4eed578a9b2f9067a514a2eba2df9b38e3e1829f51be30412df08403501f29
+size 725231
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054601.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054601.png
new file mode 100644
index 0000000000000000000000000000000000000000..f21f1e6c522551785ceb7f6efdda79e61d5a01c1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054601.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:593357f69e996fbaf771af162075b196f22c5f8a4280dacfc4e60502fbc1bdab
+size 715673
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054603.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054603.png
new file mode 100644
index 0000000000000000000000000000000000000000..425bc3b35f2ebacfc751293a6e5f94b2bb2b6a50
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054603.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5276af3bf45d0d826cdb44e83abde095814cea3dce4c2bfa105d4bedc90cb69a
+size 755266
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054605.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054605.png
new file mode 100644
index 0000000000000000000000000000000000000000..e24ba235d6e51f41f483c95056b59cf47143deaf
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054605.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cba48bb126f1988784e8330ff1f0cfa2ffa256bdea4fa8c4175591010716838c
+size 737836
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054607.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054607.png
new file mode 100644
index 0000000000000000000000000000000000000000..509130ba8734106c6b6ce6ffc6d1e5f85e743764
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054607.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1faeb5c15afd7c1828b8e60133fa6d4d5d7aa255c3e43058d2f313418daf9a86
+size 716360
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054609.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054609.png
new file mode 100644
index 0000000000000000000000000000000000000000..b52c630a36f1bda5a4cf1b2131a971b05f723167
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054609.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e7defa9ca9ec126aeeb172d3f92eeb31ec871144554b4dd89919efc1a253b79
+size 779747
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054611.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054611.png
new file mode 100644
index 0000000000000000000000000000000000000000..7f38398634eff8a8ba7e17130688256c23819dec
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054611.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1a299563d9ffe97f1a3c7f6179b0abe619795027af63f081d7ef66757411faa
+size 768064
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054614.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054614.png
new file mode 100644
index 0000000000000000000000000000000000000000..730d0cb2e54db8e9e62424c294ea7676da157759
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054614.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eece13f1d4c1b4a184aa6bf221975ecf0595680168f93c2ec6583fac13c0e1d3
+size 780184
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054616.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054616.png
new file mode 100644
index 0000000000000000000000000000000000000000..b37c5bb5eb08ccdd300cec0695088b3807e7875a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054616.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b09bae74e64adc9bbb49bb4697437f9d1d22e5a890de80a985c34c06c164d862
+size 784011
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054618.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054618.png
new file mode 100644
index 0000000000000000000000000000000000000000..b1cf42ba86f2bff9681cbd39f88803e275131da7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054618.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f3080688e4e1b8264096229e9ee76ee7c4bdb76fa6c8c0e00e0264ba359ff06
+size 775241
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054620.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054620.png
new file mode 100644
index 0000000000000000000000000000000000000000..fa7106c21eafe7883fc29c1d6b39226262831504
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054620.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:302d818a4bf2cf1f19152a3fe4118e666eed52ea74fdea274a4cfd9ec7a0bcba
+size 767648
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054622.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054622.png
new file mode 100644
index 0000000000000000000000000000000000000000..41f4411599cfba90fa0de8751690966ade4768f9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054622.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4371fc4d5cba47dbd71dd8cfcaf25a91a424fbd609520774e4f1e87c54a5f7a
+size 765520
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054624.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054624.png
new file mode 100644
index 0000000000000000000000000000000000000000..5d584c7f5c8a7d3669d21afcd970ca281b8a18ce
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054624.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:791fcb1dacc16b4906e59a678cca64d150c93a7101bf6f26b90dfc9b7ae86c3e
+size 766414
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054627.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054627.png
new file mode 100644
index 0000000000000000000000000000000000000000..dfa464a26fe4175556b22a4fc77460acdfb3b91d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054627.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3edc9d47cf61f83138bb505bede20d1bc94c20d979706bcb093d33d6f6aa5102
+size 752637
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054629.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054629.png
new file mode 100644
index 0000000000000000000000000000000000000000..432950cfff8fdb689d545288ddc7e5db4dcee921
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054629.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:faa57438facd919422a591b2bf25a69e9df99b5bd1c955e819dfd260a87a4572
+size 758706
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054631.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054631.png
new file mode 100644
index 0000000000000000000000000000000000000000..22713c7bbc8d408ab5bcccac4536978e2f0f8584
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054631.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:086dfaa0b5c68eda8bbe371582756953f940706670650e7e0e86703d6a4bc1c9
+size 767106
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054633.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054633.png
new file mode 100644
index 0000000000000000000000000000000000000000..1c14d22ecee7d87495a8a11228cdeb43101497d0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054633.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1bffea962fac8c87a8d4c3e17f0826105bd4a12b0af91b716bf1523304549ff
+size 770353
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054635.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054635.png
new file mode 100644
index 0000000000000000000000000000000000000000..cc98271db90e51415fbf563772f5aa99d802f62f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054635.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e91d7fe317131a01a89d0a2574e04c583de1d2f40cffa02aad20ca57faf6123f
+size 796855
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054637.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054637.png
new file mode 100644
index 0000000000000000000000000000000000000000..fe37965a3c3bd70d4db608e7b31cad0e0ccac33e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054637.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0326e4be51baa536f002bdfc3c02190052511d53a42e1e50e8656c68bf3ae9e0
+size 807376
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054640.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054640.png
new file mode 100644
index 0000000000000000000000000000000000000000..3d34861e67d062f58f33c224a27f09032f280936
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054640.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f9c75eece13829c0dadcf954f108ab48a679df3ce3057b79a54fce8d03d92dc
+size 812943
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054642.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054642.png
new file mode 100644
index 0000000000000000000000000000000000000000..b14820414c7870e64074b6768d5dc6b64b2a20ae
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054642.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:488dce8465e431da356671c340b9ae6d45a7f08f21eabf733c02a79a76a53441
+size 814675
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054644.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054644.png
new file mode 100644
index 0000000000000000000000000000000000000000..5a84be91b14434bb053743a3c3e09994db4b538c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054644.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22dba2cd24c6f04829daa790d0a3d2c381cc911fc4cde11521bb7ee9cf6f8b4c
+size 815950
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054646.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054646.png
new file mode 100644
index 0000000000000000000000000000000000000000..bac935306c4bdffdf79c5f8ebc4ee9fcd3cda0d1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054646.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:384932dd464e60b7d90bc773399b59561ea935ec89b5464516d4700eb5eb2fa6
+size 811856
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054648.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054648.png
new file mode 100644
index 0000000000000000000000000000000000000000..324f88a4c9dfc5bb5db61dda9ed4a0954ec7ca5c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054648.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d4c73c38c037e25120872008e406ebbea6e3213fd8826a4e937be0dcc0a52b8
+size 807411
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054651.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054651.png
new file mode 100644
index 0000000000000000000000000000000000000000..5e9392722d2d177d2a32de54ce4e64685f5a1016
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054651.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91fda37b773212c05317d80b6162c7e31e40b59f771b82ac8624d73616556fd7
+size 802581
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054653.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054653.png
new file mode 100644
index 0000000000000000000000000000000000000000..647f834e359c49adebd2c34d4a08a16f85ef9d6c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054653.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2821aea5acbff61d01a88aea87dc81798475a892d14bc0e226091f339c0686b8
+size 801191
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054655.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054655.png
new file mode 100644
index 0000000000000000000000000000000000000000..4b4a338808caf2cd2e1ae622a43431ab40fe6ff6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054655.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5aefb91d586a20b0968fd48c5f590b8ae9bac88f710d5fc720cd5c1cadcc8a5a
+size 851883
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054657.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054657.png
new file mode 100644
index 0000000000000000000000000000000000000000..ccf391c01713daa1bf19f1a87442dd3164b22025
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054657.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19a4abdb53eedaf995a58f018142b48a2f53bf8a7366b88e4529983c0cce9705
+size 846941
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054700.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054700.png
new file mode 100644
index 0000000000000000000000000000000000000000..3430611433d9a9afd0e65fa771c3f90ffa7c89f7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054700.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c85ae0684282f5353d2f2030af5577b7d9d7e57246ca7e1d99561bbe873d1043
+size 853298
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054702.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054702.png
new file mode 100644
index 0000000000000000000000000000000000000000..ca030f0407815b8ea3ab8d2ac42987217615c24f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_05-45-46_434809/20250119_054702.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e454e34236d25fa8362b648a2fd3b1fb20a11248e2e15b9ddfc568f55078172
+size 840392
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064830.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064830.png
new file mode 100644
index 0000000000000000000000000000000000000000..4b6900e499328cc958a1ef2879b6a8d304458b6e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064830.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba72a7f026ed6b76a0c52a12ea3485b1ab6f4061291e1c69bf5c9e9484f84833
+size 617930
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064833.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064833.png
new file mode 100644
index 0000000000000000000000000000000000000000..18eb703c4c6d730b5ae33c726ee2a1ce38360f10
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064833.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:313784dba64e0847247f768970a35d9ac6d921ee08083f7c6e8cd36f3667505d
+size 616591
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064835.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064835.png
new file mode 100644
index 0000000000000000000000000000000000000000..e6ba76a10d9b558bfbb9702b38e399a5aff9e3b3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064835.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0907e00fa4cd739ef6e1f1ee322d8ed3c81489b259f254b673d03aa3b64f0eaa
+size 735570
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064837.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064837.png
new file mode 100644
index 0000000000000000000000000000000000000000..281df09096553b19b17044e026defe632d9d6fc4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064837.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbe8975103fd2ce2af09e25cd3935cf0a4d9a32b6e5cd5f46d4490cdcee4abf4
+size 793085
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064839.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064839.png
new file mode 100644
index 0000000000000000000000000000000000000000..90f684420cf29dda2d68ca16941b586d20795eb2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064839.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cfa65e35203c906716173f9c3f421e70c0396ce885668b0a28060e461f5670cc
+size 748093
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064841.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064841.png
new file mode 100644
index 0000000000000000000000000000000000000000..1ab496743e2b06ec8282d7f50402ce7b405d8875
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064841.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29b815809794022168052ce388a5bd19ae87aae047f0139b11a05f7c6749d538
+size 745617
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064844.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064844.png
new file mode 100644
index 0000000000000000000000000000000000000000..085ccd334023a46c84b6579e005cf9d6dc977017
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064844.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:165b864962277ae6b68ea4639be6e47e7a478ce170343da87569f6b114c74af5
+size 734766
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064846.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064846.png
new file mode 100644
index 0000000000000000000000000000000000000000..552ce6152421b74beb3575ce2cabb38e7e53babb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064846.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:826aaafa8812da65b60828633e0eada6f8ba938ba449d4d6153db5b902119f32
+size 742425
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064848.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064848.png
new file mode 100644
index 0000000000000000000000000000000000000000..6d31703b433815bfd6d8034f3c427bcda466616f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064848.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71eb04357158c3575c984327974697de6ca7f6d70de46ab43481f3e8db5836e7
+size 746853
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064850.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064850.png
new file mode 100644
index 0000000000000000000000000000000000000000..49c76a5324f85bc983147af94924e90d5685287c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064850.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0323476339bc5fd9b406444601bac1944387c3624e373780704c9251e702d280
+size 757154
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064852.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064852.png
new file mode 100644
index 0000000000000000000000000000000000000000..223d47c59190e84f9470b0244937f82a19efd4af
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064852.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:613cc587c1e7e5195bfcda72e1f7760b663e7cc28e12c3a192e3c7613da24681
+size 749840
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064855.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064855.png
new file mode 100644
index 0000000000000000000000000000000000000000..c411ae17f978249916117cd88adf4977b8a44a58
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064855.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ec19aa6b0ebda4cd38ad27d8d8d81c2143dba19941f26687539bc27999f3aa0
+size 739785
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064857.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064857.png
new file mode 100644
index 0000000000000000000000000000000000000000..105cffc237f0f6108dd425f9d5e5d1dc08dba0a3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064857.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ced88caabdba6c2ba96fb2b350bc664a7e1f79daedb59f59a64a968f3a5dde5d
+size 729328
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064859.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064859.png
new file mode 100644
index 0000000000000000000000000000000000000000..95850ef8cb79c03d3f4d4829ddcd0a8c15005fe8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064859.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7eeb944aecb09943adfef031afe55e61061ac14df1cfbd89644b833fa4594238
+size 715289
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064901.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064901.png
new file mode 100644
index 0000000000000000000000000000000000000000..b5a9ae4d2d488449b925aca9829f5a860f391e8e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064901.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e45a4973d3e24375243de7247c270871056d0e37accbb1ffeda65dcf67d298f3
+size 691872
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064903.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064903.png
new file mode 100644
index 0000000000000000000000000000000000000000..9e0e6b8a9a42da67ecb7935fab8f205d40cf7d7b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064903.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba982f3b20c830d3fa1ecc196493f7203db1c68877607d18b5d268bd43a13458
+size 658281
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064905.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064905.png
new file mode 100644
index 0000000000000000000000000000000000000000..ced708bd03634a2210982a4c16c00453df9e6b2e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064905.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70488fd58dda4d0384422f92ee4991507dd597ae9deedb768a0930e71cddbcd1
+size 720028
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064908.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064908.png
new file mode 100644
index 0000000000000000000000000000000000000000..231116005363fea6a798fb9562e7e0fa15bf2e22
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064908.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0d3c431400c23951e105a107bff007952e29ec66d842f6ec836c2747a31f9fd
+size 718761
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064910.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064910.png
new file mode 100644
index 0000000000000000000000000000000000000000..219d34ec4a4849a420e550b66bc2a5fcddeb5ae8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064910.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e8a3f09749687b1938ff9840283ab83ecddbc7cbaed8aee6f38ecacaaac94ee
+size 713635
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064912.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064912.png
new file mode 100644
index 0000000000000000000000000000000000000000..29476db91335110d93e4cd9dc14627cc238b01fb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064912.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:875f19728dd302ca24b70fcdd143af91dbc69f461e1883b3771f8ecfa9fdf13f
+size 787222
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064914.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064914.png
new file mode 100644
index 0000000000000000000000000000000000000000..ffab3f2cae992235417666ec6b83ac2de87084cd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064914.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3aa94f39d8f4f66a21a0dba76fbf3da34a040ecce5087602378025a8c54005d
+size 791684
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064916.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064916.png
new file mode 100644
index 0000000000000000000000000000000000000000..854ce414f7e2203769f67d6609bc55d4d91697f5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064916.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5100a1e7af8f8925980d028cad90266c05516c82ac68e5f0159336d1863a43ac
+size 791740
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064919.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064919.png
new file mode 100644
index 0000000000000000000000000000000000000000..bb3a186a38c6bf0d50523b929df942d6ec0fda3a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064919.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0fbbb801fd6c95afc685da1cb91c51a31acbb684500f593f2f817804f6254f2b
+size 792380
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064921.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064921.png
new file mode 100644
index 0000000000000000000000000000000000000000..13976747ee6166315ff30cfffeb4786a1f03c416
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064921.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1f32f53c00de35f41794f0be97b400a177ed1247ed1cd6f39b2f6a67bcaf649
+size 793582
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064923.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064923.png
new file mode 100644
index 0000000000000000000000000000000000000000..c2410898e84af591c7ac2b45ced9d7d08e3c1dbe
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064923.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:731123a28789af516b99a60ee9977b9e3c0a244daed2bc7d24c12a87ae79cbee
+size 788188
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064925.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064925.png
new file mode 100644
index 0000000000000000000000000000000000000000..be77d0bd2f9cc849be124bf1a7fd0702869a64a0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064925.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc6920d75924b76b6a26bdbd089e4c87749d89bbcf7e83f6164c9b17c230661f
+size 780981
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064927.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064927.png
new file mode 100644
index 0000000000000000000000000000000000000000..47a0b93bd1e48850704df447a800e033864f97dd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064927.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbafc69485f5d5f7750ada574ae3e33d81c95833020fe60af2bc78613e35082a
+size 778171
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064929.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064929.png
new file mode 100644
index 0000000000000000000000000000000000000000..7020775a726bbf56b302e1a54674ccde973224e9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064929.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b0d31ad0a5fc314ae58393c585e3f2253761dedf11d1901aba89809ff24fd2b
+size 776331
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064931.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064931.png
new file mode 100644
index 0000000000000000000000000000000000000000..ec33829f885c7323840807778dd953a0c656077a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064931.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab39cc0c7492710ce95e5301d83506fe7efc6c1f65e12e72687720ef0d213a7e
+size 766853
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064934.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064934.png
new file mode 100644
index 0000000000000000000000000000000000000000..468a2ac18189ddc712181ee4c8f3ce81cf90328a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064934.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56f6d1863f59787b084f4bc1dfacc22f02b083b446d660d514420e7fb2738d70
+size 761838
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064936.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064936.png
new file mode 100644
index 0000000000000000000000000000000000000000..b7e1e9e89af527f275da59268df03eedce06db9e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064936.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4964dea07996d97217f22eee248338b2c0e63e381e3b63f3f4f572f2cb5b9e39
+size 769115
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064938.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064938.png
new file mode 100644
index 0000000000000000000000000000000000000000..2684587dba5aabd39c8144fd6f5d9f54bd51fe6e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064938.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbfef37a3c5e35584b34f8d0ac4372daaa15d15524a18d627da9cc220ff01fb2
+size 775179
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064940.png b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064940.png
new file mode 100644
index 0000000000000000000000000000000000000000..732d90a8355f5763b76b6bd9b0bb56c153c629e3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-01-19_06-48-22_523305/20250119_064940.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d0649517470bb3765050b83e6a86c725c56a90abd133941f683dde8968cc8b2
+size 773254
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_16-1-26_1801979802/20250103_160130.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_16-1-26_1801979802/20250103_160130.png
new file mode 100644
index 0000000000000000000000000000000000000000..a244483d1c3b7f497cc3caf0eedc0437fdb68cbe
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_16-1-26_1801979802/20250103_160130.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a26af25cdad25bbc797198c3671d62c590b59d6c3070e132d692e8a7fdf3109f
+size 674440
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_16-1-26_1801979802/20250103_160132.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_16-1-26_1801979802/20250103_160132.png
new file mode 100644
index 0000000000000000000000000000000000000000..1b062bc50ec7e92b6fedae720df1d322b7624231
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_16-1-26_1801979802/20250103_160132.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1bc1204734c2bfea3ae81abe78b998b9fcd8d1c93fad0f0fd2eae99b5f90d0c
+size 671085
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_16-1-26_1801979802/20250103_160134.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_16-1-26_1801979802/20250103_160134.png
new file mode 100644
index 0000000000000000000000000000000000000000..a4f46cf087e18f216c314e0543843d8b2d07df84
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_16-1-26_1801979802/20250103_160134.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ea75300fc386b97db997a8acd17f6d21417e002000af70b135fdbeff91b9af7
+size 668183
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_16-1-26_1801979802/20250103_160137.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_16-1-26_1801979802/20250103_160137.png
new file mode 100644
index 0000000000000000000000000000000000000000..8043e357e819e6f9b90824a22161e9161fc92055
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_16-1-26_1801979802/20250103_160137.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e0dd1ec3e29e3877f6b0e3790b9e0aa9255c871241e6473a7d81cb8ccae8f1d
+size 667072
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184545.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184545.png
new file mode 100644
index 0000000000000000000000000000000000000000..0b95e06c9c453417f816b240e1c0be69f5e88fbf
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184545.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4c40afdf5b5d904a49a227283aa6842ab5006c36de55217678a26b0ffc8227b
+size 746024
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184547.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184547.png
new file mode 100644
index 0000000000000000000000000000000000000000..2d1f02555ce59bb451a9f014949f161183b8464b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184547.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62de450596d042f2dc018284a3ad43d446554eecb3be2a7d31af5b2010ce0379
+size 739680
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184549.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184549.png
new file mode 100644
index 0000000000000000000000000000000000000000..705d19bb53f8524795ce5a9a7651d46e5be0efed
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184549.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c08f333a81aba204453e54367deac02debc4116a29076e75aeb19c7348a7fa0
+size 735698
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184551.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184551.png
new file mode 100644
index 0000000000000000000000000000000000000000..39b569a52ecad842a01338904578296703d296a7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184551.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a33981a1dc9d40d3e51abb764193adc6e1deae4e32409b137acbf07b4947df6
+size 733188
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184554.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184554.png
new file mode 100644
index 0000000000000000000000000000000000000000..e7ea954fb051c2fd90551b404ab4d0fed28b10a3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184554.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b03443cf3afa323cba1460a8b5092ed881893156c858b1fdf1dd1ca339088f48
+size 724949
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184556.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184556.png
new file mode 100644
index 0000000000000000000000000000000000000000..cc6c7cc5439a2a85cd2ae8e889653bcc1928b0d4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184556.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e72faff96f7e7ed5f9e1d1a35f833f56aa22fe4af1c67783c1c04178aff55ed7
+size 727791
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184558.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184558.png
new file mode 100644
index 0000000000000000000000000000000000000000..77f195cd87b4e4a4f4a9357b2fb29ed61b190a94
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184558.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3893f0eac67beb6cfe0d7f2e992387d4266b534ce96196da1e7fe14ec6865642
+size 713908
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184600.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184600.png
new file mode 100644
index 0000000000000000000000000000000000000000..bb772e2de0f13c5b2c27da81bf2390d3f938c313
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184600.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:905465e0fc3350e73bc20649e9ce48016b6873b682c283e2fecdf7fe22a6541c
+size 705816
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184603.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184603.png
new file mode 100644
index 0000000000000000000000000000000000000000..61804ebf3cd70d3ef37711f7e987a27bba0987c0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184603.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7a981974b4f255d142bdd3f6c37d69dc5a96e8e832498a2ccc6bc307b28736d
+size 710498
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184605.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184605.png
new file mode 100644
index 0000000000000000000000000000000000000000..a7d0c79f8d12f041c25aa85f1312ab0bed7271d5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184605.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a398d4d0c130e1a5df7ba565cf62fb16920610fba202cd15e96cb9f6c76fc487
+size 712824
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184607.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184607.png
new file mode 100644
index 0000000000000000000000000000000000000000..ec230473bd156401e09fe94fbdf8fa40f910f9bb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184607.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4244a4911b043e359e1a12ddab4c4c04cad2c0b49c6f313d360452d045f8c9a9
+size 704772
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184609.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184609.png
new file mode 100644
index 0000000000000000000000000000000000000000..8dd08b2122ee7cdefc4d790bad59105c9bace071
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184609.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8f4d1bec57777a66f0df6c3ce5a164e585fec5dd3e8cb3c202e3ea5244765ad
+size 697869
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184611.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184611.png
new file mode 100644
index 0000000000000000000000000000000000000000..b12d91c5fb19be06aaab2175deec35b673ec1ce1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184611.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45df21d42498d64ad82e27971bad448aceac5b606a84ea34096ad87cb69f75f6
+size 694433
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184613.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184613.png
new file mode 100644
index 0000000000000000000000000000000000000000..2523a1a3249eb136962a7ea0f42057cccebe40af
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184613.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e94228c37f9fa1cf9293d2fc7e3aff0368aae03137a9a7b540e7d6652e9ef97a
+size 744517
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184616.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184616.png
new file mode 100644
index 0000000000000000000000000000000000000000..0239f6f605eb3cce99f190667272df52ccc712ec
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184616.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d60535d26c3279ec07d35f80b898216a005d62d665fba9a35e765f3d03e96c8d
+size 746591
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184618.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184618.png
new file mode 100644
index 0000000000000000000000000000000000000000..a955e9b458dce1047547788822165556341e3046
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184618.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f06d60b0ed3b00975d7bf6a53fce845a4a39507691ddc6666cdc2daf2dc94ab
+size 758945
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184620.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184620.png
new file mode 100644
index 0000000000000000000000000000000000000000..4d693e3f67f311e386ea843f883dedf3b0c77541
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184620.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:452512609fad3011f6b79f3dc928e3728f264be01240566d74ccc2fcfbe9bdfa
+size 758729
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184622.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184622.png
new file mode 100644
index 0000000000000000000000000000000000000000..95f32a9799badbdbd0c3b5e8846e11e002b377dd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184622.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf339866d085e58a4afdc21cacc56145f728545e563dad6d70abb91a125f04a5
+size 763345
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184624.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184624.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd6602ebaae445a6b9cda46ce1d013cea569664b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184624.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2d7c143490956440b880b1c4cbf3e83058cb83f9f2d962f6c7904050da21bb2
+size 762238
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184626.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184626.png
new file mode 100644
index 0000000000000000000000000000000000000000..4418b4da3daa0aeeaad9bfb9dd0f2e736ab6dbd0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184626.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d2958562ea417bb51006702195df057d48f3aa58e4c8ae8b40be6a190d0ef71
+size 757406
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184629.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184629.png
new file mode 100644
index 0000000000000000000000000000000000000000..b3631d6dbdf899b791be720460f949d59c54b21b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184629.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f70ca6f5c0efaf7b878bead875934f666bbc11bd78594cc8e055be91cbfb4c71
+size 756694
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184631.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184631.png
new file mode 100644
index 0000000000000000000000000000000000000000..2abd2caf29e4d931d25babd53919b2ca1b606015
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184631.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:816d3eead62bfbaeab2134bf0eb55b5a55c536dee8a3cd89aa59e8284257ab03
+size 760653
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184633.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184633.png
new file mode 100644
index 0000000000000000000000000000000000000000..575962c968c883c3aafa99a3a082ae76deab0b33
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184633.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42877d91665b1d8ba666a755d1098685ae74aed694b896e1999bf8190bf8f9f8
+size 758686
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184635.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184635.png
new file mode 100644
index 0000000000000000000000000000000000000000..22116ed38a54d88ffa6218bb09e8787402f98763
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184635.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:087033696ba7720cd7379e4502ef0cbc643b8c1b66eb21132df6083be204e102
+size 793654
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184637.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184637.png
new file mode 100644
index 0000000000000000000000000000000000000000..bb75b7ee6db0562f1a3a4a03db61be4a54488181
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184637.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b9f97f93e7eca078dfd465e00e0e1681494c8221b98aadba4d81ef22d6512f0
+size 794699
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184640.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184640.png
new file mode 100644
index 0000000000000000000000000000000000000000..b58c449c83a1350e184d7fac688be89bae2dc6a9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184640.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:206698dba3043a5165cfdebc2c5d09fd521ef3449a87268bd7a4d4e81192b1c7
+size 761299
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184642.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184642.png
new file mode 100644
index 0000000000000000000000000000000000000000..cd011f4d8bf3b7efaca2dd976f89ec88af57545b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184642.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2018e0d4b11e2b92002567a5ecbed1e8b65e9f9c1ad31e24845c12c432ff8eda
+size 779201
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184644.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184644.png
new file mode 100644
index 0000000000000000000000000000000000000000..35a1cd162d404bdeaa23f207c115b5a6c534336e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-45-39_243268139/20250103_184644.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fbdf30ed0b69ccd9949d7343d54e491456540db19257047035a702811844ae8
+size 770341
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-56-6_502278611/20250103_185613.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-56-6_502278611/20250103_185613.png
new file mode 100644
index 0000000000000000000000000000000000000000..f47a42192682e8a45dcf5b2d3718a30f82a603f6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-56-6_502278611/20250103_185613.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9dbbbfaa64aca6168d79d5bb24da424e0cadad369234cbd84c521dfaf800c57b
+size 878430
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-56-6_502278611/20250103_185615.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-56-6_502278611/20250103_185615.png
new file mode 100644
index 0000000000000000000000000000000000000000..798ecd39f48c70eea411157d4b53eeee2f378dc0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-56-6_502278611/20250103_185615.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8f5d3236e4ecf90242d391e85f835eaecf69e46a8023e61bd59bef7223c0e74
+size 867012
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-56-6_502278611/20250103_185617.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-56-6_502278611/20250103_185617.png
new file mode 100644
index 0000000000000000000000000000000000000000..479087b98ea46f94590d1c8bde1fe5aca691d178
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-56-6_502278611/20250103_185617.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3708c43cb7a4d6cfbc6e22fcea994b91611b09088840fdd998add0b3a56ab4e
+size 805052
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-56-6_502278611/20250103_185620.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-56-6_502278611/20250103_185620.png
new file mode 100644
index 0000000000000000000000000000000000000000..44fdf47708a8dbf5daedde02fa5803bfe6d32644
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-56-6_502278611/20250103_185620.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fbfc7a3a2a32dff706717c95208bb7ba415fc1110a668faca5fffc9ee949a2d
+size 819214
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-56-6_502278611/20250103_185622.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-56-6_502278611/20250103_185622.png
new file mode 100644
index 0000000000000000000000000000000000000000..da1cb4382d4323caae35c96a91959cb59139d306
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-56-6_502278611/20250103_185622.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e57c61c1fefd66aef78d0a394ea1402f44f2e2107e57949956775afa6a050e4
+size 830567
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-56-6_502278611/20250103_185624.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-56-6_502278611/20250103_185624.png
new file mode 100644
index 0000000000000000000000000000000000000000..757293e9786bfe9e200166f9f2f2023548f86048
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-56-6_502278611/20250103_185624.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77cd2e5fa09946ff607978377141260563367a261f1fe7db3ca99fc18e6dbc69
+size 829878
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-56-6_502278611/20250103_185626.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-56-6_502278611/20250103_185626.png
new file mode 100644
index 0000000000000000000000000000000000000000..5729c07cbc4b10a717ecdc67a7fc4da2167c23cc
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-56-6_502278611/20250103_185626.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2eae0dcebbce02d21409e5f98afa252044353db506b48fb4d3557129d831638f
+size 839095
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-56-6_502278611/20250103_185629.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-56-6_502278611/20250103_185629.png
new file mode 100644
index 0000000000000000000000000000000000000000..0b2417ace7ba370c45ebaab54211a687c242333a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_18-56-6_502278611/20250103_185629.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f30ce35d603330911a35656b55198ccebb38c4af2561d86b56bf814b314a842
+size 831819
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_19-7-34_396473730/20250103_190741.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_19-7-34_396473730/20250103_190741.png
new file mode 100644
index 0000000000000000000000000000000000000000..2b2db047a8da362dbfe7a59e8dea15fc0a4c1b4d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_19-7-34_396473730/20250103_190741.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f67d29e4c5f65bd3b6fd23b36ad072a4571474fd9340f2af11ae805af3d460ab
+size 738395
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_19-7-34_396473730/20250103_190744.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_19-7-34_396473730/20250103_190744.png
new file mode 100644
index 0000000000000000000000000000000000000000..2e1d5a032cb9e946d7b047d16f9e34bc56a9811a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_19-7-34_396473730/20250103_190744.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8cffb8f311777d34f063953d882655c2e13f382960457654afed9c486508c8e
+size 698486
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_19-7-34_396473730/20250103_190746.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_19-7-34_396473730/20250103_190746.png
new file mode 100644
index 0000000000000000000000000000000000000000..64631482c571e570d5a5751e1cdab20e3757a296
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_19-7-34_396473730/20250103_190746.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3efcff0b08c16511e985b7019ae6d68e285fe196ce84236c643571f157e42e67
+size 712642
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_19-7-34_396473730/20250103_190752.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_19-7-34_396473730/20250103_190752.png
new file mode 100644
index 0000000000000000000000000000000000000000..08d0fbc2a9db8beca0844c358239404fc5ee7d38
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_19-7-34_396473730/20250103_190752.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2d2b030648a1718440d0b58765782667b7bfa44a06c24a6cb82ecd3eb074c08
+size 671114
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_19-7-34_396473730/20250103_190754.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_19-7-34_396473730/20250103_190754.png
new file mode 100644
index 0000000000000000000000000000000000000000..b0eef0a9cb9195948b4fa246277b838de3064e24
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_19-7-34_396473730/20250103_190754.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8bc9b7b53813c68539e2edc74e34e7a0732099576e30ffdfdf58a4acb817b514
+size 671992
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_19-9-5_1590079444/20250103_190908.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_19-9-5_1590079444/20250103_190908.png
new file mode 100644
index 0000000000000000000000000000000000000000..fda0f1283904eb29f2ea481c35bd2cad85a99351
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_19-9-5_1590079444/20250103_190908.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2a73a2e1ecc2008078525a2720941b83679628a1a50e312438936552728189b
+size 879224
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_19-9-5_1590079444/20250103_190911.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_19-9-5_1590079444/20250103_190911.png
new file mode 100644
index 0000000000000000000000000000000000000000..06ca0529859eb96b231d6be81ea6742f3b970491
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_19-9-5_1590079444/20250103_190911.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b33b57ff1997930f52dd6158ae453fcbd1e9f8341a802dbc2305b6d2ffbd8683
+size 866717
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_19-9-5_1590079444/20250103_190913.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_19-9-5_1590079444/20250103_190913.png
new file mode 100644
index 0000000000000000000000000000000000000000..84c555ea26d344b79907e2e8d49ee965edb33130
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_19-9-5_1590079444/20250103_190913.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ded38281269f12ad94be85f7b29e98217446777882326fcc2c8407cd37a1cf8
+size 855909
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203751.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203751.png
new file mode 100644
index 0000000000000000000000000000000000000000..24c62dc298c91053e4f19d176d9c38b4f24b22a5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203751.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c93c806895ddedc89f7adf8e8453a4e299a44362313c22c219880ecf3e76d40
+size 764065
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203753.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203753.png
new file mode 100644
index 0000000000000000000000000000000000000000..339643a65ae966c0852de869296f2bedbd006380
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203753.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:839b2d6f55c15a62f32111f3c380141db559c35819a874813ef65fd8c4897d07
+size 767810
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203755.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203755.png
new file mode 100644
index 0000000000000000000000000000000000000000..d1c2a23ff3064d31de1490ef422b00104cf9eefa
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203755.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8b563591f32be241329b6ceca876aa7771e1434970e15884add1d1a784d6041
+size 768431
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203757.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203757.png
new file mode 100644
index 0000000000000000000000000000000000000000..57abcf0f9a3d17da5cbbfc93bc24f013737bdb88
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203757.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03d3b652a0606647da04b992fab95a3db3c625efcb5a315999a493944739799e
+size 773005
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203800.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203800.png
new file mode 100644
index 0000000000000000000000000000000000000000..95b18a30d8fdc07847628110d43a1c5352c61b18
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203800.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e0cd16b4c5237d53ec4f332e7fda0160a1bd236975bcf018551daddd1e3795b
+size 775528
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203802.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203802.png
new file mode 100644
index 0000000000000000000000000000000000000000..9620a8c084433350a8c5d0346a124cf0d36f89fa
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203802.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f48e3c650cfc3808ecd2e3270916cc08e2fb935feeda2f1c942d3634953d2625
+size 780149
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203804.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203804.png
new file mode 100644
index 0000000000000000000000000000000000000000..de9d716714c9a7df4ed97f894d339597e9734547
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203804.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ed34167ae0caf8a80074fa927f640f078301bfcd3ac3856194cd5bf570e92e4
+size 781959
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203806.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203806.png
new file mode 100644
index 0000000000000000000000000000000000000000..796929971e009f7309fafd950faf7d640bd8867f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203806.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf4f480ecea861e23c559694d9925bd623ed937ff8aded8bb5045f555d6c6824
+size 785855
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203809.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203809.png
new file mode 100644
index 0000000000000000000000000000000000000000..17e321f681c6dc5b091ae79b4907c74a7c1808ed
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203809.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62dbdfe20a3c4f6ff7c8d4c84208ec27e6fdef5554e2662f78d5170c763ee03b
+size 788335
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203811.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203811.png
new file mode 100644
index 0000000000000000000000000000000000000000..4702890c7d0f814b949df250765daebcca2f8cd3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203811.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5403bcef459f7ecc2b9585423b0be957a631d20ed50195476588e01d19d73b94
+size 790623
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203813.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203813.png
new file mode 100644
index 0000000000000000000000000000000000000000..8be457136ff84c393ae322ef95934529e11b9bb2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203813.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3d94dc30f4555f860808a130aeb3ddabef0ddbbea6c9dddc378437998e79ecf
+size 795033
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203815.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203815.png
new file mode 100644
index 0000000000000000000000000000000000000000..a3d623e36d13c6806292a970acde984ba0d18ecf
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203815.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:015d91efcec4b101fde070ca04fa9d7658a34fccf2f5aa14e32e06f920cf65d0
+size 795718
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203817.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203817.png
new file mode 100644
index 0000000000000000000000000000000000000000..3b122b388bee83908b39e08616abb5be47f47b7f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203817.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6aa26a7a45f27b4aa4509c5ffcf67ce2477da26bc0c7efb007d831e203ed4322
+size 799019
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203820.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203820.png
new file mode 100644
index 0000000000000000000000000000000000000000..005f0b110d8024e4663119b0401dc323c8a37a56
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203820.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d006c58e63ec9d0ba5cc663a4eb8c4eee78bce98f5d4e428fb63def6029cd0a
+size 804893
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203822.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203822.png
new file mode 100644
index 0000000000000000000000000000000000000000..53c7741825f8545140f78204414e0173fc124a75
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203822.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7ea6e1bc002359bd7648c52a319429585f621a7f718863b6b896b15ee899a52
+size 806701
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203824.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203824.png
new file mode 100644
index 0000000000000000000000000000000000000000..3a751ed258c637f728751e39895242b549c87001
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203824.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7652c14076686ee61762d89098949c6fabed58df47f7847fdf9412cc4025569
+size 809261
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203826.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203826.png
new file mode 100644
index 0000000000000000000000000000000000000000..7b3295c71bec0633c141ad27403380e78217b02c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203826.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ad2be752f46ade5892331a329ccdb540d774f39c58a447b50ae3eec4cacfe5c
+size 810167
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203828.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203828.png
new file mode 100644
index 0000000000000000000000000000000000000000..b659d4b757e709d015aeb20cac6ce5dbb6d1a3e1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203828.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8f9151c157acec3dbbe7539934bd0e775dfb1482c75852e26d0c0898308a77c
+size 804900
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203831.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203831.png
new file mode 100644
index 0000000000000000000000000000000000000000..12eea0a488b76b1c9c14ecbce0cce5f50c26fd1d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203831.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d01f02cae2cd02c9d9661cd3bc3218ace558d69f1b8a1c9ac99d23a04e121cd
+size 804335
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203833.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203833.png
new file mode 100644
index 0000000000000000000000000000000000000000..f08f54d04846859731f301e3c9de212239da5605
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203833.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de8d4bdb412c88873fa4455ba094c0bd86da392e9453ccfb583cabce7aa900e1
+size 803632
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203835.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203835.png
new file mode 100644
index 0000000000000000000000000000000000000000..4c976561bc4f4590214c5c89e3659b2a5a3393b2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203835.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ce97c140ff816bfb46b2900e3d024d1025ec5086de4a5b5d49d684e02a1394c
+size 802937
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203837.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203837.png
new file mode 100644
index 0000000000000000000000000000000000000000..d65f10f07aeb6152fc873ae8920d2a32dffecab9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203837.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37d99b9a566635b767024d37403104da537a99962f901aa388c063fec66dbb71
+size 797605
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203839.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203839.png
new file mode 100644
index 0000000000000000000000000000000000000000..89f8aaa724932df8ceb514b7f5911cba807be759
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203839.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7e4571f60df2b9aeb54991b835ed9c65eea1b56c4b7a2a6d32ab7825fea8b70
+size 798128
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203842.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203842.png
new file mode 100644
index 0000000000000000000000000000000000000000..2d705de67637ac737175fadc0cbf84b0f61a0bfa
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203842.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8b206594fcc088fc4a92f2cb8f1858d3a6ca548f20e16fd860b96a04be6223b
+size 797519
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203844.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203844.png
new file mode 100644
index 0000000000000000000000000000000000000000..accc3b48b32d033f0771e3ddd8a9bdcb9601e5f2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203844.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:067c82396ab8e026383bffac04158d9359dad320267f995739bf96f16631aaba
+size 794797
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203846.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203846.png
new file mode 100644
index 0000000000000000000000000000000000000000..70de3874eceb6b4002b83f99d0d919517478963d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203846.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a07a69e311c7195dc4c684e5fa856f5628c5c3af45cfa09565b95e6c085d1b52
+size 787996
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203848.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203848.png
new file mode 100644
index 0000000000000000000000000000000000000000..d86f5fbf149302bbbbae1acea007d48386edd768
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203848.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db40a83e068067ce20fae6131ff33d1288d25bfa5ffd40f5370a933183432e77
+size 788011
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203851.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203851.png
new file mode 100644
index 0000000000000000000000000000000000000000..e94a9fb13c5e66d47f44dbba9489e1b6b80d4047
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203851.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d41c4b0ee238b1e30c1726860d05312b8ac3ab33f3f8e7afe4010baa2694d42
+size 789891
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203853.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203853.png
new file mode 100644
index 0000000000000000000000000000000000000000..0adc2de94e5c1739333a6f8871bada1e3aa6341b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203853.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51a2b31644208623b684c784fec5f7afac502873a228cbcc2e00fedbd8127d00
+size 791044
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203855.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203855.png
new file mode 100644
index 0000000000000000000000000000000000000000..386ee7fdbc1aea581f7859c0259d1295fcdd19dd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203855.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff7e94b1c16bad6323b611656b12a734b37b2677eec05f0e2227eae818f68d99
+size 794242
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203857.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203857.png
new file mode 100644
index 0000000000000000000000000000000000000000..5e45ac1cc1a9505c8060d19795c8c4a5f291d883
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203857.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4531009685c0b8d359f4849681afdfaa8e63375ba0b2543d1731bc01529ea1b0
+size 792527
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203859.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203859.png
new file mode 100644
index 0000000000000000000000000000000000000000..adf4b5f0080cc41a0bb45edc1a2c2d728077e730
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203859.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e72cab4a508193d5dd867a4b7fd1d02bb5dd95352b3af2f3b158a9c0bce021a7
+size 794147
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203902.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203902.png
new file mode 100644
index 0000000000000000000000000000000000000000..60e669c7f440e5af0027e57c36574cc5fc7e76af
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203902.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea328a279db1a687417b725a51ee50a4cdff0df5d0427dd9dc745d4a7732c3ff
+size 793877
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203904.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203904.png
new file mode 100644
index 0000000000000000000000000000000000000000..e7b6452cfb5832d60687dc50795f055120d0a312
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203904.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d9018ca039c027dce6904a1580eabdff5c74e1f0df858dbe8aec5713fc7ad13
+size 793263
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203906.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203906.png
new file mode 100644
index 0000000000000000000000000000000000000000..80a6fee044713f36c88ec37c3a8f6564a8749a9f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203906.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37d4c36a3b8b3fdfb00595fa10ba8e68b2f774f72e6a719293254d119970c0af
+size 792989
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203908.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203908.png
new file mode 100644
index 0000000000000000000000000000000000000000..335623ef9d0442bd913a2c9b1ce1945230d72b6e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203908.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05e1781ff1d4ee59dcab702c9790de05fd255f782d612655d2b0341e108b6c21
+size 796914
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203911.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203911.png
new file mode 100644
index 0000000000000000000000000000000000000000..2f794b8c010295fefa963e9d148f1a1332ce7ac7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203911.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2267a5ac4aebb7cb4c86439461448cf43cc3b1a4f0c5ef090db2c71d5191cc7d
+size 806234
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203913.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203913.png
new file mode 100644
index 0000000000000000000000000000000000000000..a2e70ba3c9a19902a6eecad47f4c5ab81af6fc91
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203913.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:240cbff4766f770aeb738b09a00a6212b2c0fda1a070e76561c7ce3cb0338369
+size 796396
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203915.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203915.png
new file mode 100644
index 0000000000000000000000000000000000000000..4818f7b169b0b5dec3a37a27acdfd70ecfc9cb6d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203915.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:878d328a2dd0de7b69e6eb07c8f6f2612e90f59fcb44710b99693424bd355c02
+size 795662
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203917.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203917.png
new file mode 100644
index 0000000000000000000000000000000000000000..b5f096bb08ba0b6c24e35dbc0d5d9832208075cf
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203917.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f58fcf463d7da4b2a0789dee5842f24b18398bb275a2f18ed89af9ef4d5ef9af
+size 736715
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203920.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203920.png
new file mode 100644
index 0000000000000000000000000000000000000000..82790540e0c663584b15f0631ff5ee4709b4f979
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203920.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60cb1032f5b87d7f68e14b263078c04b6e5fd22b85c6bafb337392dd28ab48c2
+size 737972
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203922.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203922.png
new file mode 100644
index 0000000000000000000000000000000000000000..13a69f87fad38dfbac369fc2f7a7aba9dcf0ffbf
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203922.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52c18e8d487ba7912e8862f5643963f7abf698b73419a5fc11849756f68b8bdc
+size 740288
diff --git a/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203924.png b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203924.png
new file mode 100644
index 0000000000000000000000000000000000000000..86478b100ab1db69e7028b35ebd0785b60add63a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average/2025-1-3_20-37-48_524688209/20250103_203924.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88d3dc685c5c737c5eb0bb3e21b4b290aee04e838b42142302050ee9b42b2177
+size 740521